Refactoring to support new structure
This commit is contained in:
commit
c8c27b707e
3
.gitmodules
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3
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406
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"checksum autocfg 1.0.0 (registry+https://github.com/rust-lang/crates.io-index)" = "f8aac770f1885fd7e387acedd76065302551364496e46b3dd00860b2f8359b9d"
|
||||
"checksum bare-metal 0.2.5 (registry+https://github.com/rust-lang/crates.io-index)" = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
|
||||
"checksum bit_field 0.10.0 (registry+https://github.com/rust-lang/crates.io-index)" = "a165d606cf084741d4ac3a28fb6e9b1eb0bd31f6cd999098cfddb0b2ab381dc0"
|
||||
"checksum bitflags 1.2.1 (registry+https://github.com/rust-lang/crates.io-index)" = "cf1de2fe8c75bc145a2f577add951f8134889b4795d47466a54a5c846d691693"
|
||||
"checksum bitrate 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)" = "c147d86912d04bef727828fda769a76ca81629a46d8ba311a8d58a26aa91473d"
|
||||
"checksum byteorder 1.3.4 (registry+https://github.com/rust-lang/crates.io-index)" = "08c48aae112d48ed9f069b33538ea9e3e90aa263cfa3d1c24309612b1f7472de"
|
||||
"checksum cast 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)" = "4b9434b9a5aa1450faa3f9cb14ea0e8c53bb5d2b3c1bfd1ab4fc03e9f33fbfb0"
|
||||
"checksum cfg-if 0.1.10 (registry+https://github.com/rust-lang/crates.io-index)" = "4785bdd1c96b2a846b2bd7cc02e86b6b3dbf14e7e53446c4f54c92a361040822"
|
||||
"checksum cortex-m 0.5.10 (registry+https://github.com/rust-lang/crates.io-index)" = "3c0b159a1e8306949579de3698c841dba58058197b65c60807194e4fa1e7a554"
|
||||
"checksum cortex-m 0.6.2 (registry+https://github.com/rust-lang/crates.io-index)" = "2954942fbbdd49996704e6f048ce57567c3e1a4e2dc59b41ae9fde06a01fc763"
|
||||
"checksum cortex-m-log 0.6.1 (registry+https://github.com/rust-lang/crates.io-index)" = "978caafe65d1023d38b00c76b83564788fc351d954a5005fb72cf992c0d61458"
|
||||
"checksum cortex-m-rt 0.6.12 (registry+https://github.com/rust-lang/crates.io-index)" = "00d518da72bba39496024b62607c1d8e37bcece44b2536664f1132a73a499a28"
|
||||
"checksum cortex-m-rt-macros 0.1.8 (registry+https://github.com/rust-lang/crates.io-index)" = "4717562afbba06e760d34451919f5c3bf3ac15c7bb897e8b04862a7428378647"
|
||||
"checksum cortex-m-rtfm 0.5.1 (registry+https://github.com/rust-lang/crates.io-index)" = "eaf0b9fd3f042cb3793d15daf3cea201b2f25c99b0b5b936a551bb6909c3ae5b"
|
||||
"checksum cortex-m-rtfm-macros 0.5.0 (registry+https://github.com/rust-lang/crates.io-index)" = "c62092f6ff344e9b0adb748f0302ed69889ba2fae1fce446e3788d4726ea73bb"
|
||||
"checksum cortex-m-semihosting 0.3.5 (registry+https://github.com/rust-lang/crates.io-index)" = "113ef0ecffee2b62b58f9380f4469099b30e9f9cbee2804771b4203ba1762cfa"
|
||||
"checksum embedded-hal 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)" = "ee4908a155094da7723c2d60d617b820061e3b4efcc3d9e293d206a5a76c170b"
|
||||
"checksum generic-array 0.12.3 (registry+https://github.com/rust-lang/crates.io-index)" = "c68f0274ae0e023facc3c97b2e00f076be70e254bc851d972503b328db79b2ec"
|
||||
"checksum generic-array 0.13.2 (registry+https://github.com/rust-lang/crates.io-index)" = "0ed1e761351b56f54eb9dcd0cfaca9fd0daecf93918e1cfc01c8a3d26ee7adcd"
|
||||
"checksum hash32 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)" = "d4041af86e63ac4298ce40e5cca669066e75b6f1aa3390fe2561ffa5e1d9f4cc"
|
||||
"checksum heapless 0.5.5 (registry+https://github.com/rust-lang/crates.io-index)" = "73a8a2391a3bc70b31f60e7a90daa5755a360559c0b6b9c5cfc0fee482362dc0"
|
||||
"checksum indexmap 1.4.0 (registry+https://github.com/rust-lang/crates.io-index)" = "c398b2b113b55809ceb9ee3e753fcbac793f1956663f3c36549c1346015c2afe"
|
||||
"checksum log 0.4.8 (registry+https://github.com/rust-lang/crates.io-index)" = "14b6052be84e6b71ab17edffc2eeabf5c2c3ae1fdb464aae35ac50c67a44e1f7"
|
||||
"checksum managed 0.7.1 (registry+https://github.com/rust-lang/crates.io-index)" = "fdcec5e97041c7f0f1c5b7d93f12e57293c831c646f4cc7a5db59460c7ea8de6"
|
||||
"checksum mcp23017 0.1.1 (git+https://github.com/mrd0ll4r/mcp23017.git)" = "<none>"
|
||||
"checksum nb 0.1.2 (registry+https://github.com/rust-lang/crates.io-index)" = "b1411551beb3c11dedfb0a90a0fa256b47d28b9ec2cdff34c25a2fa59e45dbdc"
|
||||
"checksum panic-halt 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "de96540e0ebde571dc55c73d60ef407c653844e6f9a1e2fdbd40c07b9252d812"
|
||||
"checksum panic-semihosting 0.5.3 (registry+https://github.com/rust-lang/crates.io-index)" = "c03864ac862876c16a308f5286f4aa217f1a69ac45df87ad3cd2847f818a642c"
|
||||
"checksum paste 0.1.16 (registry+https://github.com/rust-lang/crates.io-index)" = "d508492eeb1e5c38ee696371bf7b9fc33c83d46a7d451606b96458fbbbdc2dec"
|
||||
"checksum paste-impl 0.1.16 (registry+https://github.com/rust-lang/crates.io-index)" = "84f328a6a63192b333fce5fbb4be79db6758a4d518dfac6d54412f1492f72d32"
|
||||
"checksum proc-macro-hack 0.5.16 (registry+https://github.com/rust-lang/crates.io-index)" = "7e0456befd48169b9f13ef0f0ad46d492cf9d2dbb918bcf38e01eed4ce3ec5e4"
|
||||
"checksum proc-macro2 1.0.18 (registry+https://github.com/rust-lang/crates.io-index)" = "beae6331a816b1f65d04c45b078fd8e6c93e8071771f41b8163255bbd8d7c8fa"
|
||||
"checksum quote 1.0.6 (registry+https://github.com/rust-lang/crates.io-index)" = "54a21852a652ad6f610c9510194f398ff6f8692e334fd1145fed931f7fbe44ea"
|
||||
"checksum r0 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)" = "e2a38df5b15c8d5c7e8654189744d8e396bddc18ad48041a500ce52d6948941f"
|
||||
"checksum rtfm-core 0.3.0 (registry+https://github.com/rust-lang/crates.io-index)" = "9ec893edb2aa5b70320b94896ffea22a7ebb1cf3f942bb67cd5b60a865a63493"
|
||||
"checksum rtfm-syntax 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)" = "4455e23c34df3d66454e7e218a4d76a7f83321d04a806be614463341cec4116e"
|
||||
"checksum rustc_version 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)" = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
|
||||
"checksum semver 0.9.0 (registry+https://github.com/rust-lang/crates.io-index)" = "1d7eb9ef2c18661902cc47e535f9bc51b78acd254da71d375c2f6720d9a40403"
|
||||
"checksum semver-parser 0.7.0 (registry+https://github.com/rust-lang/crates.io-index)" = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
|
||||
"checksum serde 1.0.111 (registry+https://github.com/rust-lang/crates.io-index)" = "c9124df5b40cbd380080b2cc6ab894c040a3070d995f5c9dc77e18c34a8ae37d"
|
||||
"checksum serde-json-core 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "cbf406405ada9ef326ca78677324ac66994ff348fc48a16030be08caeed29825"
|
||||
"checksum serde_derive 1.0.111 (registry+https://github.com/rust-lang/crates.io-index)" = "3f2c3ac8e6ca1e9c80b8be1023940162bf81ae3cffbb1809474152f2ce1eb250"
|
||||
"checksum smoltcp 0.6.0 (registry+https://github.com/rust-lang/crates.io-index)" = "0fe46639fd2ec79eadf8fe719f237a7a0bd4dac5d957f1ca5bbdbc1c3c39e53a"
|
||||
"checksum stable_deref_trait 1.1.1 (registry+https://github.com/rust-lang/crates.io-index)" = "dba1a27d3efae4351c8051072d619e3ade2820635c3958d826bfea39d59b54c8"
|
||||
"checksum stm32h7 0.11.0 (registry+https://github.com/rust-lang/crates.io-index)" = "e9beb5e2a223c82f263c3051bba4614aebc6e98bd40217df3cd8817c83ac7bd8"
|
||||
"checksum stm32h7-ethernet 0.1.1 (git+https://github.com/quartiq/stm32h7-ethernet.git)" = "<none>"
|
||||
"checksum stm32h7xx-hal 0.5.0 (registry+https://github.com/rust-lang/crates.io-index)" = "987c66628f30012ed9a41cc738421c5caece03292c0cc8fd1e99956f122735bd"
|
||||
"checksum syn 1.0.30 (registry+https://github.com/rust-lang/crates.io-index)" = "93a56fabc59dce20fe48b6c832cc249c713e7ed88fa28b0ee0a3bfcaae5fe4e2"
|
||||
"checksum typenum 1.12.0 (registry+https://github.com/rust-lang/crates.io-index)" = "373c8a200f9e67a0c95e62a4f52fbf80c23b4381c05a17845531982fa99e6b33"
|
||||
"checksum unicode-xid 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "826e7639553986605ec5979c7dd957c7895e93eabed50ab2ffa7f6128a75097c"
|
||||
"checksum vcell 0.1.2 (registry+https://github.com/rust-lang/crates.io-index)" = "876e32dcadfe563a4289e994f7cb391197f362b6315dc45e8ba4aa6f564a4b3c"
|
||||
"checksum void 1.0.2 (registry+https://github.com/rust-lang/crates.io-index)" = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
|
||||
"checksum volatile-register 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "0d67cb4616d99b940db1d6bd28844ff97108b498a6ca850e5b6191a532063286"
|
||||
|
||||
72
Cargo.toml
72
Cargo.toml
@ -1,72 +1,10 @@
|
||||
[package]
|
||||
name = "stabilizer"
|
||||
version = "0.3.0"
|
||||
authors = ["Robert Jördens <rj@quartiq.de>"]
|
||||
description = "Firmware for the Sinara Stabilizer board (stm32h743, eth, poe, 2 adc, 2 dac)"
|
||||
categories = ["embedded", "no-std", "hardware-support", "science"]
|
||||
license = "GPL-3.0-or-later"
|
||||
keywords = ["ethernet", "stm32h7", "adc", "dac", "physics"]
|
||||
repository = "https://github.com/quartiq/stabilizer"
|
||||
readme = "README.md"
|
||||
documentation = "https://docs.rs/stabilizer/"
|
||||
edition = "2018"
|
||||
exclude = [
|
||||
".travis.yml",
|
||||
".gitignore",
|
||||
"doc/",
|
||||
"doc/*"
|
||||
[workspace]
|
||||
|
||||
members = [
|
||||
"stabilizer",
|
||||
"stm32h7xx-hal",
|
||||
]
|
||||
|
||||
[badges]
|
||||
travis-ci = { repository = "quartiq/stabilizer", branch = "master" }
|
||||
maintenance = { status = "experimental" }
|
||||
|
||||
[package.metadata.docs.rs]
|
||||
features = []
|
||||
default-target = "thumbv7em-none-eabihf"
|
||||
|
||||
[dependencies]
|
||||
cortex-m = { version = "0.6", features = ["const-fn"] }
|
||||
cortex-m-rt = { version = "0.6", features = ["device"] }
|
||||
cortex-m-log = { version = "0.6", features = ["log-integration"] }
|
||||
log = "0.4"
|
||||
panic-semihosting = { version = "0.5", optional = true }
|
||||
panic-halt = "0.2"
|
||||
serde = { version = "1.0", features = ["derive"], default-features = false }
|
||||
heapless = { version = "0.5.4", features = ["serde"] }
|
||||
serde-json-core = "0.1"
|
||||
cortex-m-rtfm = "0.5"
|
||||
embedded-hal = "0.2.3"
|
||||
nb = "0.1.2"
|
||||
asm-delay = "0.7.0"
|
||||
|
||||
[dependencies.mcp23017]
|
||||
git = "https://github.com/mrd0ll4r/mcp23017.git"
|
||||
|
||||
[dependencies.smoltcp]
|
||||
version = "0.6"
|
||||
features = ["ethernet", "proto-ipv4", "socket-tcp", "proto-ipv6"]
|
||||
default-features = false
|
||||
|
||||
[dependencies.ad9959]
|
||||
git = "https://github.com/quartiq/ad9959.git"
|
||||
branch = "feature/basic-driver"
|
||||
|
||||
[dependencies.stm32h7-ethernet]
|
||||
git = "https://github.com/quartiq/stm32h7-ethernet.git"
|
||||
features = ["stm32h743v"]
|
||||
|
||||
[dependencies.stm32h7xx-hal]
|
||||
#git = "https://github.com/quartiq/stm32h7xx-hal.git"
|
||||
#branch = "feature/quad-spi"
|
||||
path = "../stm32h7xx-hal/"
|
||||
features = ["stm32h743v", "rt", "unproven"]
|
||||
|
||||
[features]
|
||||
semihosting = ["panic-semihosting", "cortex-m-log/semihosting"]
|
||||
bkpt = [ ]
|
||||
nightly = ["cortex-m/inline-asm"]
|
||||
|
||||
[profile.dev]
|
||||
codegen-units = 1
|
||||
incremental = false
|
||||
|
||||
@ -16,7 +16,7 @@ break rust_begin_unwind
|
||||
|
||||
load
|
||||
# tbreak cortex_m_rt::reset_handler
|
||||
# monitor reset halt
|
||||
monitor reset halt
|
||||
|
||||
# cycle counter delta tool, place two bkpts around the section
|
||||
set var $cc=0xe0001004
|
||||
@ -26,4 +26,3 @@ set var $t0=*$cc
|
||||
continue
|
||||
end
|
||||
#set var $t0=*$cc
|
||||
continue
|
||||
|
||||
605
src/eth.rs
605
src/eth.rs
@ -1,605 +0,0 @@
|
||||
use core::{cmp, slice};
|
||||
use smoltcp::phy;
|
||||
use smoltcp::time::Instant;
|
||||
use smoltcp::wire::EthernetAddress;
|
||||
use smoltcp::Result;
|
||||
use super::{pac};
|
||||
|
||||
#[allow(dead_code)]
|
||||
mod phy_consts {
|
||||
pub const PHY_REG_BCR: u8 = 0x00;
|
||||
pub const PHY_REG_BSR: u8 = 0x01;
|
||||
pub const PHY_REG_ID1: u8 = 0x02;
|
||||
pub const PHY_REG_ID2: u8 = 0x03;
|
||||
pub const PHY_REG_ANTX: u8 = 0x04;
|
||||
pub const PHY_REG_ANRX: u8 = 0x05;
|
||||
pub const PHY_REG_ANEXP: u8 = 0x06;
|
||||
pub const PHY_REG_ANNPTX: u8 = 0x07;
|
||||
pub const PHY_REG_ANNPRX: u8 = 0x08;
|
||||
pub const PHY_REG_SSR: u8 = 0x1F; // Special Status Register
|
||||
pub const PHY_REG_CTL: u8 = 0x0D; // Ethernet PHY Register Control
|
||||
pub const PHY_REG_ADDAR: u8 = 0x0E; // Ethernet PHY Address or Data
|
||||
|
||||
pub const PHY_REG_WUCSR: u16 = 0x8010;
|
||||
|
||||
pub const PHY_REG_BCR_COLTEST: u16 = 1 << 7;
|
||||
pub const PHY_REG_BCR_FD: u16 = 1 << 8;
|
||||
pub const PHY_REG_BCR_ANRST: u16 = 1 << 9;
|
||||
pub const PHY_REG_BCR_ISOLATE: u16 = 1 << 10;
|
||||
pub const PHY_REG_BCR_POWERDN: u16 = 1 << 11;
|
||||
pub const PHY_REG_BCR_AN: u16 = 1 << 12;
|
||||
pub const PHY_REG_BCR_100M: u16 = 1 << 13;
|
||||
pub const PHY_REG_BCR_LOOPBACK: u16 = 1 << 14;
|
||||
pub const PHY_REG_BCR_RESET: u16 = 1 << 15;
|
||||
|
||||
pub const PHY_REG_BSR_JABBER: u16 = 1 << 1;
|
||||
pub const PHY_REG_BSR_UP: u16 = 1 << 2;
|
||||
pub const PHY_REG_BSR_FAULT: u16 = 1 << 4;
|
||||
pub const PHY_REG_BSR_ANDONE: u16 = 1 << 5;
|
||||
|
||||
pub const PHY_REG_SSR_ANDONE: u16 = 1 << 12;
|
||||
pub const PHY_REG_SSR_SPEED: u16 = 0b111 << 2;
|
||||
pub const PHY_REG_SSR_10BASE_HD: u16 = 0b001 << 2;
|
||||
pub const PHY_REG_SSR_10BASE_FD: u16 = 0b101 << 2;
|
||||
pub const PHY_REG_SSR_100BASE_HD: u16 = 0b010 << 2;
|
||||
pub const PHY_REG_SSR_100BASE_FD: u16 = 0b110 << 2;
|
||||
}
|
||||
use self::phy_consts::*;
|
||||
|
||||
const EMAC_DES3_OWN: u32 = 0x8000_0000;
|
||||
const EMAC_DES3_CTXT: u32 = 0x4000_0000;
|
||||
const EMAC_DES3_FD: u32 = 0x2000_0000;
|
||||
const EMAC_DES3_LD: u32 = 0x1000_0000;
|
||||
const EMAC_DES3_ES: u32 = 0x0000_8000;
|
||||
const EMAC_TDES2_IOC: u32 = 0x8000_0000;
|
||||
const EMAC_RDES3_IOC: u32 = 0x4000_0000;
|
||||
const EMAC_RDES3_PL: u32 = 0x0000_7FFF;
|
||||
const EMAC_RDES3_BUF1V: u32 = 0x0100_0000;
|
||||
const EMAC_TDES2_B1L: u32 = 0x0000_3FFF;
|
||||
const EMAC_DES0_BUF1AP: u32 = 0xFFFF_FFFF;
|
||||
|
||||
// 6 DMAC, 6 SMAC, 4 q tag, 2 ethernet type II, 1500 ip MTU, 4 CRC, 2 padding
|
||||
const ETH_BUFFER_SIZE: usize = 1524;
|
||||
const ETH_DESC_U32_SIZE: usize = 4;
|
||||
const ETH_TX_BUFFER_COUNT: usize = 4;
|
||||
const ETH_RX_BUFFER_COUNT: usize = 4;
|
||||
|
||||
#[allow(dead_code)]
|
||||
mod cr_consts {
|
||||
/* For HCLK 60-100 MHz */
|
||||
pub const ETH_MACMIIAR_CR_HCLK_DIV_42: u8 = 0;
|
||||
/* For HCLK 100-150 MHz */
|
||||
pub const ETH_MACMIIAR_CR_HCLK_DIV_62: u8 = 1;
|
||||
/* For HCLK 20-35 MHz */
|
||||
pub const ETH_MACMIIAR_CR_HCLK_DIV_16: u8 = 2;
|
||||
/* For HCLK 35-60 MHz */
|
||||
pub const ETH_MACMIIAR_CR_HCLK_DIV_26: u8 = 3;
|
||||
/* For HCLK 150-250 MHz */
|
||||
pub const ETH_MACMIIAR_CR_HCLK_DIV_102: u8 = 4;
|
||||
/* For HCLK 250-300 MHz */
|
||||
pub const ETH_MACMIIAR_CR_HCLK_DIV_124: u8 = 5;
|
||||
}
|
||||
use self::cr_consts::*;
|
||||
|
||||
// set clock range in MAC MII address register
|
||||
// 200 MHz AHB clock = eth_hclk
|
||||
const CLOCK_RANGE: u8 = ETH_MACMIIAR_CR_HCLK_DIV_102;
|
||||
|
||||
const PHY_ADDR: u8 = 0;
|
||||
|
||||
fn phy_read(reg_addr: u8, mac: &pac::ETHERNET_MAC) -> u16 {
|
||||
while mac.macmdioar.read().mb().bit_is_set() {}
|
||||
mac.macmdioar.modify(|_, w| unsafe {
|
||||
w.pa()
|
||||
.bits(PHY_ADDR)
|
||||
.rda()
|
||||
.bits(reg_addr)
|
||||
.goc()
|
||||
.bits(0b11) // read
|
||||
.cr()
|
||||
.bits(CLOCK_RANGE)
|
||||
.mb()
|
||||
.set_bit()
|
||||
});
|
||||
while mac.macmdioar.read().mb().bit_is_set() {}
|
||||
mac.macmdiodr.read().md().bits()
|
||||
}
|
||||
|
||||
fn phy_write(reg_addr: u8, reg_data: u16, mac: &pac::ETHERNET_MAC) {
|
||||
while mac.macmdioar.read().mb().bit_is_set() {}
|
||||
mac.macmdiodr.write(|w| unsafe { w.md().bits(reg_data) });
|
||||
mac.macmdioar.modify(|_, w| unsafe {
|
||||
w.pa()
|
||||
.bits(PHY_ADDR)
|
||||
.rda()
|
||||
.bits(reg_addr)
|
||||
.goc()
|
||||
.bits(0b01) // write
|
||||
.cr()
|
||||
.bits(CLOCK_RANGE)
|
||||
.mb()
|
||||
.set_bit()
|
||||
});
|
||||
while mac.macmdioar.read().mb().bit_is_set() {}
|
||||
}
|
||||
|
||||
// Writes a value to an extended PHY register in MMD address space
|
||||
fn phy_write_ext(reg_addr: u16, reg_data: u16, mac: &pac::ETHERNET_MAC) {
|
||||
phy_write(PHY_REG_CTL, 0x0003, mac); // set address
|
||||
phy_write(PHY_REG_ADDAR, reg_addr, mac);
|
||||
phy_write(PHY_REG_CTL, 0x4003, mac); // set data
|
||||
phy_write(PHY_REG_ADDAR, reg_data, mac);
|
||||
}
|
||||
|
||||
#[repr(align(4))]
|
||||
struct RxRing {
|
||||
desc_buf: [[u32; ETH_DESC_U32_SIZE]; ETH_RX_BUFFER_COUNT],
|
||||
pkt_buf: [[u8; ETH_BUFFER_SIZE]; ETH_RX_BUFFER_COUNT],
|
||||
cur_desc: usize,
|
||||
}
|
||||
|
||||
impl RxRing {
|
||||
const fn new() -> Self {
|
||||
Self {
|
||||
desc_buf: [[0; ETH_DESC_U32_SIZE]; ETH_RX_BUFFER_COUNT],
|
||||
pkt_buf: [[0; ETH_BUFFER_SIZE]; ETH_RX_BUFFER_COUNT],
|
||||
cur_desc: 0,
|
||||
}
|
||||
}
|
||||
|
||||
unsafe fn init(&mut self, dma: &pac::ETHERNET_DMA) {
|
||||
assert_eq!(self.desc_buf[0].len() % 4, 0);
|
||||
assert_eq!(self.pkt_buf[0].len() % 4, 0);
|
||||
|
||||
for i in 0..self.desc_buf.len() {
|
||||
for j in 0..self.desc_buf[0].len() {
|
||||
self.desc_buf[i][j] = 0;
|
||||
}
|
||||
for j in 0..self.pkt_buf[0].len() {
|
||||
self.pkt_buf[i][j] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
let addr = &self.desc_buf as *const _ as u32;
|
||||
assert_eq!(addr & 0x3, 0);
|
||||
dma.dmacrx_dlar.write(|w| w.bits(addr));
|
||||
dma.dmacrx_rlr
|
||||
.write(|w| w.rdrl().bits(self.desc_buf.len() as u16 - 1));
|
||||
|
||||
self.cur_desc = 0;
|
||||
for _ in 0..self.desc_buf.len() {
|
||||
self.buf_release()
|
||||
}
|
||||
}
|
||||
|
||||
fn next_desc(&self) -> usize {
|
||||
(self.cur_desc + 1) % self.desc_buf.len()
|
||||
}
|
||||
|
||||
// not owned by DMA
|
||||
fn buf_owned(&self) -> bool {
|
||||
self.desc_buf[self.cur_desc][3] & EMAC_DES3_OWN == 0
|
||||
}
|
||||
|
||||
fn buf_valid(&self) -> bool {
|
||||
self.desc_buf[self.cur_desc][3]
|
||||
& (EMAC_DES3_FD | EMAC_DES3_LD | EMAC_DES3_ES | EMAC_DES3_CTXT)
|
||||
== (EMAC_DES3_FD | EMAC_DES3_LD)
|
||||
}
|
||||
|
||||
unsafe fn buf_as_slice_mut<'a>(&self) -> &'a mut [u8] {
|
||||
let len = (self.desc_buf[self.cur_desc][3] & EMAC_RDES3_PL) as usize;
|
||||
let len = cmp::min(len, ETH_BUFFER_SIZE);
|
||||
let addr = &self.pkt_buf[self.cur_desc] as *const _ as *mut u8;
|
||||
slice::from_raw_parts_mut(addr, len)
|
||||
}
|
||||
|
||||
fn buf_release(&mut self) {
|
||||
let addr = &self.pkt_buf[self.cur_desc] as *const _;
|
||||
self.desc_buf[self.cur_desc][0] = addr as u32 & EMAC_DES0_BUF1AP;
|
||||
self.desc_buf[self.cur_desc][3] =
|
||||
EMAC_RDES3_BUF1V | EMAC_RDES3_IOC | EMAC_DES3_OWN;
|
||||
|
||||
let addr = &self.desc_buf[self.cur_desc] as *const _ as u32;
|
||||
assert_eq!(addr & 0x3, 0);
|
||||
|
||||
let dma = unsafe { pac::Peripherals::steal().ETHERNET_DMA };
|
||||
|
||||
// Ensure changes to the descriptor (in particular, the OWN flag) are
|
||||
// committed before DMA engine sees tail pointer store.
|
||||
cortex_m::asm::dsb();
|
||||
|
||||
dma.dmacrx_dtpr.write(|w| unsafe { w.bits(addr) });
|
||||
|
||||
self.cur_desc = self.next_desc();
|
||||
}
|
||||
}
|
||||
|
||||
#[repr(align(4))]
|
||||
struct TxRing {
|
||||
desc_buf: [[u32; ETH_DESC_U32_SIZE]; ETH_TX_BUFFER_COUNT],
|
||||
pkt_buf: [[u8; ETH_BUFFER_SIZE]; ETH_TX_BUFFER_COUNT],
|
||||
cur_desc: usize,
|
||||
}
|
||||
|
||||
impl TxRing {
|
||||
const fn new() -> Self {
|
||||
Self {
|
||||
desc_buf: [[0; ETH_DESC_U32_SIZE]; ETH_TX_BUFFER_COUNT],
|
||||
pkt_buf: [[0; ETH_BUFFER_SIZE]; ETH_TX_BUFFER_COUNT],
|
||||
cur_desc: 0,
|
||||
}
|
||||
}
|
||||
|
||||
unsafe fn init(&mut self, dma: &pac::ETHERNET_DMA) {
|
||||
assert_eq!(self.desc_buf[0].len() % 4, 0);
|
||||
assert_eq!(self.pkt_buf[0].len() % 4, 0);
|
||||
|
||||
for i in 0..self.desc_buf.len() {
|
||||
for j in 0..self.desc_buf[0].len() {
|
||||
self.desc_buf[i][j] = 0;
|
||||
}
|
||||
for j in 0..self.pkt_buf[0].len() {
|
||||
self.pkt_buf[i][j] = 0;
|
||||
}
|
||||
}
|
||||
self.cur_desc = 0;
|
||||
|
||||
let addr = &self.desc_buf as *const _ as u32;
|
||||
assert_eq!(addr & 0x3, 0);
|
||||
dma.dmactx_dlar.write(|w| w.bits(addr));
|
||||
dma.dmactx_rlr
|
||||
.write(|w| w.tdrl().bits(self.desc_buf.len() as u16 - 1));
|
||||
let addr = &self.desc_buf[0] as *const _ as u32;
|
||||
assert_eq!(addr & 0x3, 0);
|
||||
dma.dmactx_dtpr.write(|w| w.bits(addr));
|
||||
}
|
||||
|
||||
fn next_desc(&self) -> usize {
|
||||
(self.cur_desc + 1) % self.desc_buf.len()
|
||||
}
|
||||
|
||||
// not owned by DMA
|
||||
fn buf_owned(&self) -> bool {
|
||||
self.desc_buf[self.cur_desc][3] & EMAC_DES3_OWN == 0
|
||||
}
|
||||
|
||||
unsafe fn buf_as_slice_mut<'a>(&mut self, len: usize) -> &'a mut [u8] {
|
||||
let len = cmp::min(len, ETH_BUFFER_SIZE);
|
||||
self.desc_buf[self.cur_desc][2] =
|
||||
EMAC_TDES2_IOC | (len as u32 & EMAC_TDES2_B1L);
|
||||
let addr = &self.pkt_buf[self.cur_desc] as *const _ as *mut u8;
|
||||
self.desc_buf[self.cur_desc][0] = addr as u32 & EMAC_DES0_BUF1AP;
|
||||
slice::from_raw_parts_mut(addr, len)
|
||||
}
|
||||
|
||||
fn buf_release(&mut self) {
|
||||
self.desc_buf[self.cur_desc][3] =
|
||||
EMAC_DES3_OWN | EMAC_DES3_FD | EMAC_DES3_LD;
|
||||
self.cur_desc = self.next_desc();
|
||||
|
||||
let addr = &self.desc_buf[self.cur_desc] as *const _ as u32;
|
||||
assert_eq!(addr & 0x3, 0);
|
||||
|
||||
let dma = unsafe { pac::Peripherals::steal().ETHERNET_DMA };
|
||||
|
||||
// Ensure packet contents as well as changes to the descriptor have been
|
||||
// committed before DMA engine sees the tail pointer store.
|
||||
cortex_m::asm::dsb();
|
||||
|
||||
dma.dmactx_dtpr.write(|w| unsafe { w.bits(addr) });
|
||||
}
|
||||
}
|
||||
|
||||
pub struct Device {
|
||||
rx: RxRing,
|
||||
tx: TxRing,
|
||||
}
|
||||
|
||||
impl Device {
|
||||
pub const fn new() -> Self {
|
||||
Self {
|
||||
rx: RxRing::new(),
|
||||
tx: TxRing::new(),
|
||||
}
|
||||
}
|
||||
|
||||
// Initialize the ethernet peripherals
|
||||
//
|
||||
// # Safety
|
||||
//
|
||||
// This iis transitively unsafe since it sets potentially
|
||||
// unsafe register values. Might ultimately be safe if the values
|
||||
// are correct.
|
||||
//
|
||||
// After `init` is called, `Device` shall not be moved.
|
||||
pub unsafe fn init(
|
||||
&mut self,
|
||||
mac: EthernetAddress,
|
||||
eth_mac: &pac::ETHERNET_MAC,
|
||||
eth_dma: &pac::ETHERNET_DMA,
|
||||
eth_mtl: &pac::ETHERNET_MTL,
|
||||
) {
|
||||
eth_dma.dmamr.modify(|_, w| w.swr().set_bit());
|
||||
while eth_dma.dmamr.read().swr().bit_is_set() {}
|
||||
|
||||
// 200 MHz
|
||||
eth_mac
|
||||
.mac1ustcr
|
||||
.modify(|_, w| w.tic_1us_cntr().bits(200 - 1));
|
||||
|
||||
// Configuration Register
|
||||
eth_mac.maccr.modify(|_, w| {
|
||||
w.arpen()
|
||||
.clear_bit()
|
||||
.ipc()
|
||||
.set_bit()
|
||||
.ipg()
|
||||
.bits(0b000) // 96 bit
|
||||
.ecrsfd()
|
||||
.clear_bit()
|
||||
.dcrs()
|
||||
.clear_bit()
|
||||
.bl()
|
||||
.bits(0b00) // 19
|
||||
.prelen()
|
||||
.bits(0b00) // 7
|
||||
// CRC stripping for Type frames
|
||||
.cst()
|
||||
.set_bit()
|
||||
// Fast Ethernet speed
|
||||
.fes()
|
||||
.set_bit()
|
||||
// Duplex mode
|
||||
.dm()
|
||||
.set_bit()
|
||||
// Automatic pad/CRC stripping
|
||||
.acs()
|
||||
.set_bit()
|
||||
// Retry disable in half-duplex mode
|
||||
.dr()
|
||||
.set_bit()
|
||||
});
|
||||
eth_mac.macecr.modify(|_, w| {
|
||||
w.eipgen()
|
||||
.clear_bit()
|
||||
.usp()
|
||||
.clear_bit()
|
||||
.spen()
|
||||
.clear_bit()
|
||||
.dcrcc()
|
||||
.clear_bit()
|
||||
});
|
||||
// Set the MAC address
|
||||
eth_mac.maca0lr.write(|w| {
|
||||
w.addrlo().bits(
|
||||
u32::from(mac.0[0])
|
||||
| (u32::from(mac.0[1]) << 8)
|
||||
| (u32::from(mac.0[2]) << 16)
|
||||
| (u32::from(mac.0[3]) << 24),
|
||||
)
|
||||
});
|
||||
eth_mac.maca0hr.write(|w| {
|
||||
w.addrhi()
|
||||
.bits(u16::from(mac.0[4]) | (u16::from(mac.0[5]) << 8))
|
||||
});
|
||||
// frame filter register
|
||||
eth_mac.macpfr.modify(|_, w| {
|
||||
w.dntu()
|
||||
.clear_bit()
|
||||
.ipfe()
|
||||
.clear_bit()
|
||||
.vtfe()
|
||||
.clear_bit()
|
||||
.hpf()
|
||||
.clear_bit()
|
||||
.saf()
|
||||
.clear_bit()
|
||||
.saif()
|
||||
.clear_bit()
|
||||
.pcf()
|
||||
.bits(0b00)
|
||||
.dbf()
|
||||
.clear_bit()
|
||||
.pm()
|
||||
.clear_bit()
|
||||
.daif()
|
||||
.clear_bit()
|
||||
.hmc()
|
||||
.clear_bit()
|
||||
.huc()
|
||||
.clear_bit()
|
||||
// Receive All
|
||||
.ra()
|
||||
.clear_bit()
|
||||
// Promiscuous mode
|
||||
.pr()
|
||||
.clear_bit()
|
||||
});
|
||||
eth_mac.macwtr.write(|w| w.pwe().clear_bit());
|
||||
// Flow Control Register
|
||||
eth_mac.macqtx_fcr.modify(|_, w| {
|
||||
// Pause time
|
||||
w.pt().bits(0x100)
|
||||
});
|
||||
eth_mac.macrx_fcr.modify(|_, w| w);
|
||||
eth_mtl.mtlrx_qomr.modify(|_, w| {
|
||||
w
|
||||
// Receive store and forward
|
||||
.rsf()
|
||||
.set_bit()
|
||||
// Dropping of TCP/IP checksum error frames disable
|
||||
.dis_tcp_ef()
|
||||
.clear_bit()
|
||||
// Forward error frames
|
||||
.fep()
|
||||
.clear_bit()
|
||||
// Forward undersized good packets
|
||||
.fup()
|
||||
.clear_bit()
|
||||
});
|
||||
eth_mtl.mtltx_qomr.modify(|_, w| {
|
||||
w
|
||||
// Transmit store and forward
|
||||
.tsf()
|
||||
.set_bit()
|
||||
});
|
||||
|
||||
if (phy_read(PHY_REG_ID1, eth_mac) != 0x0007)
|
||||
| (phy_read(PHY_REG_ID2, eth_mac) != 0xC131)
|
||||
{
|
||||
error!("PHY ID error!");
|
||||
}
|
||||
|
||||
phy_write(PHY_REG_BCR, PHY_REG_BCR_RESET, eth_mac);
|
||||
while phy_read(PHY_REG_BCR, eth_mac) & PHY_REG_BCR_RESET
|
||||
== PHY_REG_BCR_RESET
|
||||
{}
|
||||
phy_write_ext(PHY_REG_WUCSR, 0, eth_mac);
|
||||
phy_write(
|
||||
PHY_REG_BCR,
|
||||
PHY_REG_BCR_AN | PHY_REG_BCR_ANRST | PHY_REG_BCR_100M,
|
||||
eth_mac,
|
||||
);
|
||||
/*
|
||||
while phy_read(PHY_REG_BSR) & PHY_REG_BSR_UP == 0 {};
|
||||
while phy_read(PHY_REG_BSR) & PHY_REG_BSR_ANDONE == 0 {};
|
||||
while phy_read(PHY_REG_SSR) & (PHY_REG_SSR_ANDONE | PHY_REG_SSR_SPEED)
|
||||
!= PHY_REG_SSR_ANDONE | PHY_REG_SSR_100BASE_FD {};
|
||||
*/
|
||||
|
||||
// operation mode register
|
||||
eth_dma.dmamr.modify(|_, w| {
|
||||
w.intm()
|
||||
.bits(0b00)
|
||||
// Rx Tx priority ratio 1:1
|
||||
.pr()
|
||||
.bits(0b000)
|
||||
.txpr()
|
||||
.clear_bit()
|
||||
.da()
|
||||
.clear_bit()
|
||||
});
|
||||
// bus mode register
|
||||
eth_dma.dmasbmr.modify(|_, w| {
|
||||
// Address-aligned beats
|
||||
w.aal()
|
||||
.set_bit()
|
||||
// Fixed burst
|
||||
.fb()
|
||||
.set_bit()
|
||||
});
|
||||
eth_dma
|
||||
.dmaccr
|
||||
.modify(|_, w| w.dsl().bits(0).pblx8().clear_bit().mss().bits(536));
|
||||
eth_dma.dmactx_cr.modify(|_, w| {
|
||||
w
|
||||
// Tx DMA PBL
|
||||
.txpbl()
|
||||
.bits(32)
|
||||
.tse()
|
||||
.clear_bit()
|
||||
// Operate on second frame
|
||||
.osf()
|
||||
.clear_bit()
|
||||
});
|
||||
|
||||
eth_dma.dmacrx_cr.modify(|_, w| {
|
||||
w
|
||||
// receive buffer size
|
||||
.rbsz()
|
||||
.bits(ETH_BUFFER_SIZE as u16)
|
||||
// Rx DMA PBL
|
||||
.rxpbl()
|
||||
.bits(32)
|
||||
// Disable flushing of received frames
|
||||
.rpf()
|
||||
.clear_bit()
|
||||
});
|
||||
|
||||
self.rx.init(eth_dma);
|
||||
self.tx.init(eth_dma);
|
||||
|
||||
// Manage MAC transmission and reception
|
||||
eth_mac.maccr.modify(|_, w| {
|
||||
w.re()
|
||||
.bit(true) // Receiver Enable
|
||||
.te()
|
||||
.bit(true) // Transmiter Enable
|
||||
});
|
||||
eth_mtl.mtltx_qomr.modify(|_, w| w.ftq().set_bit());
|
||||
|
||||
// Ensure ring buffer descriptors have been set up in memory before
|
||||
// enabling DMA engine.
|
||||
cortex_m::asm::dsb();
|
||||
|
||||
// Manage DMA transmission and reception
|
||||
eth_dma.dmactx_cr.modify(|_, w| w.st().set_bit());
|
||||
eth_dma.dmacrx_cr.modify(|_, w| w.sr().set_bit());
|
||||
|
||||
eth_dma
|
||||
.dmacsr
|
||||
.modify(|_, w| w.tps().set_bit().rps().set_bit());
|
||||
}
|
||||
}
|
||||
|
||||
impl<'a, 'b> phy::Device<'a> for &'b mut Device {
|
||||
type RxToken = RxToken<'a>;
|
||||
type TxToken = TxToken<'a>;
|
||||
|
||||
fn capabilities(&self) -> phy::DeviceCapabilities {
|
||||
let mut capabilities = phy::DeviceCapabilities::default();
|
||||
// ethernet frame type II (6 smac, 6 dmac, 2 ethertype),
|
||||
// sans CRC (4), 1500 IP MTU
|
||||
capabilities.max_transmission_unit = 1514;
|
||||
capabilities.max_burst_size = Some(self.tx.desc_buf.len());
|
||||
capabilities
|
||||
}
|
||||
|
||||
fn receive(&mut self) -> Option<(RxToken, TxToken)> {
|
||||
// Skip all queued packets with errors.
|
||||
while self.rx.buf_owned() && !self.rx.buf_valid() {
|
||||
self.rx.buf_release()
|
||||
}
|
||||
|
||||
if !(self.rx.buf_owned() && self.tx.buf_owned()) {
|
||||
return None;
|
||||
}
|
||||
|
||||
Some((RxToken(&mut self.rx), TxToken(&mut self.tx)))
|
||||
}
|
||||
|
||||
fn transmit(&mut self) -> Option<TxToken> {
|
||||
if !self.tx.buf_owned() {
|
||||
return None;
|
||||
}
|
||||
|
||||
Some(TxToken(&mut self.tx))
|
||||
}
|
||||
}
|
||||
|
||||
pub struct RxToken<'a>(&'a mut RxRing);
|
||||
|
||||
impl<'a> phy::RxToken for RxToken<'a> {
|
||||
fn consume<R, F>(self, _timestamp: Instant, f: F) -> Result<R>
|
||||
where
|
||||
F: FnOnce(&mut [u8]) -> Result<R>,
|
||||
{
|
||||
let result = f(unsafe { self.0.buf_as_slice_mut() });
|
||||
self.0.buf_release();
|
||||
result
|
||||
}
|
||||
}
|
||||
|
||||
pub struct TxToken<'a>(&'a mut TxRing);
|
||||
|
||||
impl<'a> phy::TxToken for TxToken<'a> {
|
||||
fn consume<R, F>(self, _timestamp: Instant, len: usize, f: F) -> Result<R>
|
||||
where
|
||||
F: FnOnce(&mut [u8]) -> Result<R>,
|
||||
{
|
||||
let result = f(unsafe { self.0.buf_as_slice_mut(len) });
|
||||
self.0.buf_release();
|
||||
result
|
||||
}
|
||||
}
|
||||
@ -1,57 +0,0 @@
|
||||
use super::error::Error;
|
||||
use super::DdsChannel;
|
||||
|
||||
pub trait AttenuatorInterface {
|
||||
fn modify(&mut self, attenuation: f32, channel: DdsChannel) -> Result<f32, Error> {
|
||||
if attenuation > 31.5 || attenuation < 0.0 {
|
||||
return Err(Error::Bounds);
|
||||
}
|
||||
|
||||
// Calculate the attenuation code to program into the attenuator. The attenuator uses a
|
||||
// code where the LSB is 0.5 dB.
|
||||
let attenuation_code = (attenuation * 2.0) as u8;
|
||||
|
||||
// Read all the channels, modify the channel of interest, and write all the channels back.
|
||||
// This ensures the staging register and the output register are always in sync.
|
||||
let mut channels = [0_u8; 4];
|
||||
self.read_all(&mut channels)?;
|
||||
|
||||
// The lowest 2 bits of the 8-bit shift register on the attenuator are ignored. Shift the
|
||||
// attenuator code into the upper 6 bits of the register value. Note that the attenuator
|
||||
// treats inputs as active-low, so the code is inverted before writing.
|
||||
channels[channel as usize] = !attenuation_code.wrapping_shl(2);
|
||||
self.write_all(&channels)?;
|
||||
|
||||
// Finally, latch the output of the updated channel to force it into an active state.
|
||||
self.latch(channel)?;
|
||||
|
||||
Ok(attenuation_code as f32 / 2.0)
|
||||
}
|
||||
|
||||
fn read(&mut self, channel: DdsChannel) -> Result<f32, Error> {
|
||||
let mut channels = [0_u8; 4];
|
||||
|
||||
// Reading the data always shifts data out of the staging registers, so we perform a
|
||||
// duplicate write-back to ensure the staging register is always equal to the output
|
||||
// register.
|
||||
self.read_all(&mut channels)?;
|
||||
self.write_all(&channels)?;
|
||||
|
||||
// The attenuation code is stored in the upper 6 bits of the register, where each LSB
|
||||
// represents 0.5 dB. The attenuator stores the code as active-low, so inverting the result
|
||||
// (before the shift) has the affect of transforming the bits of interest (and the
|
||||
// dont-care bits) into an active-high state and then masking off the don't care bits. If
|
||||
// the shift occurs before the inversion, the upper 2 bits (which would then be don't
|
||||
// care) would contain erroneous data.
|
||||
let attenuation_code = (!channels[channel as usize]).wrapping_shr(2);
|
||||
|
||||
// Convert the desired channel code into dB of attenuation.
|
||||
Ok(attenuation_code as f32 / 2.0)
|
||||
}
|
||||
|
||||
fn reset(&mut self) -> Result<(), Error>;
|
||||
|
||||
fn latch(&mut self, channel: DdsChannel) -> Result<(), Error>;
|
||||
fn read_all(&mut self, channels: &mut [u8; 4]) -> Result<(), Error>;
|
||||
fn write_all(&mut self, channels: &[u8; 4]) -> Result<(), Error>;
|
||||
}
|
||||
@ -1,11 +0,0 @@
|
||||
#[derive(Debug)]
|
||||
pub enum Error {
|
||||
Spi,
|
||||
I2c,
|
||||
DDS,
|
||||
Qspi,
|
||||
Bounds,
|
||||
InvalidAddress,
|
||||
InvalidChannel,
|
||||
Adc,
|
||||
}
|
||||
@ -1,264 +0,0 @@
|
||||
use mcp23017;
|
||||
use ad9959;
|
||||
|
||||
mod error;
|
||||
pub mod attenuators;
|
||||
mod rf_power;
|
||||
pub mod types;
|
||||
|
||||
use super::hal;
|
||||
|
||||
pub use error::Error;
|
||||
use attenuators::AttenuatorInterface;
|
||||
use types::{DdsChannel, InputChannel};
|
||||
use rf_power::PowerMeasurementInterface;
|
||||
|
||||
use embedded_hal::{
|
||||
blocking::spi::Transfer,
|
||||
adc::OneShot
|
||||
};
|
||||
|
||||
#[allow(dead_code)]
|
||||
const OSC_EN_N_PIN: u8 = 8 + 7;
|
||||
|
||||
const EXT_CLK_SEL_PIN: u8 = 8 + 6;
|
||||
|
||||
const ATT_RST_N_PIN: u8 = 8 + 5;
|
||||
|
||||
const ATT_LE0_PIN: u8 = 8 + 0;
|
||||
const ATT_LE1_PIN: u8 = 8 + 1;
|
||||
const ATT_LE2_PIN: u8 = 8 + 2;
|
||||
const ATT_LE3_PIN: u8 = 8 + 3;
|
||||
|
||||
pub struct QspiInterface {
|
||||
pub qspi: hal::qspi::Qspi,
|
||||
mode: ad9959::Mode,
|
||||
}
|
||||
|
||||
impl QspiInterface {
|
||||
pub fn new(mut qspi: hal::qspi::Qspi) -> Result<Self, Error> {
|
||||
qspi.configure_mode(hal::qspi::QspiMode::FourBit).map_err(|_| Error::Qspi)?;
|
||||
Ok(Self { qspi: qspi, mode: ad9959::Mode::SingleBitTwoWire })
|
||||
}
|
||||
}
|
||||
|
||||
impl ad9959::Interface for QspiInterface {
|
||||
type Error = Error;
|
||||
|
||||
fn configure_mode(&mut self, mode: ad9959::Mode) -> Result<(), Error> {
|
||||
self.mode = mode;
|
||||
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn write(&mut self, addr: u8, data: &[u8]) -> Result<(), Error> {
|
||||
if (addr & 0x80) != 0 {
|
||||
return Err(Error::InvalidAddress);
|
||||
}
|
||||
|
||||
// The QSPI interface implementation always operates in 4-bit mode because the AD9959 uses
|
||||
// IO3 as SYNC_IO in some output modes. In order for writes to be successful, SYNC_IO must
|
||||
// be driven low. However, the QSPI peripheral forces IO3 high when operating in 1 or 2 bit
|
||||
// modes. As a result, any writes while in single- or dual-bit modes has to instead write
|
||||
// the data encoded into 4-bit QSPI data so that IO3 can be driven low.
|
||||
match self.mode {
|
||||
ad9959::Mode::SingleBitTwoWire => {
|
||||
// Encode the data into a 4-bit QSPI pattern.
|
||||
|
||||
// In 4-bit mode, we can send 2 bits of address and data per byte transfer. As
|
||||
// such, we need at least 4x more bytes than the length of data. To avoid dynamic
|
||||
// allocation, we assume the maximum transaction length for single-bit-two-wire is
|
||||
// 2 bytes.
|
||||
let mut encoded_data: [u8; 12] = [0; 12];
|
||||
|
||||
if (data.len() * 4) > (encoded_data.len() - 4) {
|
||||
return Err(Error::Bounds);
|
||||
}
|
||||
|
||||
// Encode the address into the first 4 bytes.
|
||||
for address_bit in 0..8 {
|
||||
let offset: u8 = {
|
||||
if address_bit % 2 == 0 {
|
||||
4
|
||||
} else {
|
||||
0
|
||||
}
|
||||
};
|
||||
|
||||
if addr & address_bit != 0 {
|
||||
encoded_data[(address_bit >> 1) as usize] |= 1 << offset;
|
||||
}
|
||||
}
|
||||
|
||||
// Encode the data into the remaining bytes.
|
||||
for byte_index in 0..data.len() {
|
||||
let byte = data[byte_index];
|
||||
for address_bit in 0..8 {
|
||||
let offset: u8 = {
|
||||
if address_bit % 2 == 0 {
|
||||
4
|
||||
} else {
|
||||
0
|
||||
}
|
||||
};
|
||||
|
||||
if byte & address_bit != 0 {
|
||||
encoded_data[(byte_index + 1) * 4 + (address_bit >> 1) as usize] |= 1 << offset;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
let (encoded_address, encoded_payload) = {
|
||||
let end_index = (1 + data.len()) * 4;
|
||||
(encoded_data[0], &encoded_data[1..end_index])
|
||||
};
|
||||
|
||||
self.qspi.write(encoded_address, &encoded_payload).map_err(|_| Error::Qspi)
|
||||
},
|
||||
ad9959::Mode::FourBitSerial => {
|
||||
self.qspi.write(addr, &data).map_err(|_| Error::Qspi)
|
||||
},
|
||||
_ => {
|
||||
Err(Error::Qspi)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn read(&mut self, addr: u8, mut dest: &mut [u8]) -> Result<(), Error> {
|
||||
if (addr & 0x80) != 0 {
|
||||
return Err(Error::InvalidAddress);
|
||||
}
|
||||
|
||||
// It is not possible to read data from the AD9959 in single bit two wire mode because the
|
||||
// QSPI interface assumes that data is always received on IO1.
|
||||
if self.mode == ad9959::Mode::SingleBitTwoWire {
|
||||
return Err(Error::Qspi);
|
||||
}
|
||||
|
||||
self.qspi.read(0x80_u8 | addr, &mut dest).map_err(|_| Error::Qspi)
|
||||
}
|
||||
}
|
||||
|
||||
pub struct PounderDevices<DELAY> {
|
||||
pub ad9959: ad9959::Ad9959<QspiInterface,
|
||||
DELAY,
|
||||
hal::gpio::gpiog::PG7<hal::gpio::Output<hal::gpio::PushPull>>>,
|
||||
mcp23017: mcp23017::MCP23017<hal::i2c::I2c<hal::stm32::I2C1>>,
|
||||
attenuator_spi: hal::spi::Spi<hal::stm32::SPI1>,
|
||||
adc1: hal::adc::Adc<hal::stm32::ADC1, hal::adc::Enabled>,
|
||||
adc2: hal::adc::Adc<hal::stm32::ADC2, hal::adc::Enabled>,
|
||||
adc1_in_p: hal::gpio::gpiof::PF11<hal::gpio::Analog>,
|
||||
adc2_in_p: hal::gpio::gpiof::PF14<hal::gpio::Analog>,
|
||||
}
|
||||
|
||||
impl<DELAY> PounderDevices<DELAY>
|
||||
where
|
||||
DELAY: embedded_hal::blocking::delay::DelayMs<u8>,
|
||||
{
|
||||
pub fn new(mcp23017: mcp23017::MCP23017<hal::i2c::I2c<hal::stm32::I2C1>>,
|
||||
ad9959: ad9959::Ad9959<QspiInterface,
|
||||
DELAY,
|
||||
hal::gpio::gpiog::PG7<
|
||||
hal::gpio::Output<hal::gpio::PushPull>>>,
|
||||
attenuator_spi: hal::spi::Spi<hal::stm32::SPI1>,
|
||||
adc1: hal::adc::Adc<hal::stm32::ADC1, hal::adc::Enabled>,
|
||||
adc2: hal::adc::Adc<hal::stm32::ADC2, hal::adc::Enabled>,
|
||||
adc1_in_p: hal::gpio::gpiof::PF11<hal::gpio::Analog>,
|
||||
adc2_in_p: hal::gpio::gpiof::PF14<hal::gpio::Analog>,
|
||||
) -> Result<Self, Error> {
|
||||
let mut devices = Self {
|
||||
mcp23017,
|
||||
ad9959,
|
||||
attenuator_spi,
|
||||
adc1,
|
||||
adc2,
|
||||
adc1_in_p,
|
||||
adc2_in_p,
|
||||
};
|
||||
|
||||
// Configure power-on-default state for pounder. All LEDs are on, on-board oscillator
|
||||
// selected, attenuators out of reset.
|
||||
devices.mcp23017.write_gpio(mcp23017::Port::GPIOA, 0xF).map_err(|_| Error::I2c)?;
|
||||
devices.mcp23017.write_gpio(mcp23017::Port::GPIOB,
|
||||
1_u8.wrapping_shl(5)).map_err(|_| Error::I2c)?;
|
||||
devices.mcp23017.all_pin_mode(mcp23017::PinMode::OUTPUT).map_err(|_| Error::I2c)?;
|
||||
|
||||
devices.select_onboard_clock()?;
|
||||
|
||||
Ok(devices)
|
||||
}
|
||||
|
||||
pub fn select_external_clock(&mut self, frequency: u32) -> Result<(), Error>{
|
||||
self.mcp23017.digital_write(EXT_CLK_SEL_PIN, true).map_err(|_| Error::I2c)?;
|
||||
self.ad9959.set_clock_frequency(frequency).map_err(|_| Error::DDS)?;
|
||||
|
||||
Ok(())
|
||||
}
|
||||
|
||||
pub fn select_onboard_clock(&mut self) -> Result<(), Error> {
|
||||
self.mcp23017.digital_write(EXT_CLK_SEL_PIN, false).map_err(|_| Error::I2c)?;
|
||||
self.ad9959.set_clock_frequency(100_000_000).map_err(|_| Error::DDS)?;
|
||||
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
impl<DELAY> AttenuatorInterface for PounderDevices<DELAY>
|
||||
{
|
||||
fn reset(&mut self) -> Result<(), Error> {
|
||||
self.mcp23017.digital_write(ATT_RST_N_PIN, true).map_err(|_| Error::I2c)?;
|
||||
// TODO: Measure the I2C transaction speed to the RST pin to ensure that the delay is
|
||||
// sufficient. Document the delay here.
|
||||
self.mcp23017.digital_write(ATT_RST_N_PIN, false).map_err(|_| Error::I2c)?;
|
||||
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn latch(&mut self, channel: DdsChannel) -> Result<(), Error> {
|
||||
let pin = match channel {
|
||||
DdsChannel::Zero => ATT_LE1_PIN,
|
||||
DdsChannel::One => ATT_LE0_PIN,
|
||||
DdsChannel::Two => ATT_LE3_PIN,
|
||||
DdsChannel::Three => ATT_LE2_PIN,
|
||||
};
|
||||
|
||||
self.mcp23017.digital_write(pin, true).map_err(|_| Error::I2c)?;
|
||||
// TODO: Measure the I2C transaction speed to the RST pin to ensure that the delay is
|
||||
// sufficient. Document the delay here.
|
||||
self.mcp23017.digital_write(pin, false).map_err(|_| Error::I2c)?;
|
||||
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn read_all(&mut self, channels: &mut [u8; 4]) -> Result<(), Error> {
|
||||
self.attenuator_spi.transfer(channels).map_err(|_| Error::Spi)?;
|
||||
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn write_all(&mut self, channels: &[u8; 4]) -> Result<(), Error> {
|
||||
let mut result = [0_u8; 4];
|
||||
result.clone_from_slice(channels);
|
||||
self.attenuator_spi.transfer(&mut result).map_err(|_| Error::Spi)?;
|
||||
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
impl<DELAY> PowerMeasurementInterface for PounderDevices<DELAY> {
|
||||
fn sample_converter(&mut self, channel: InputChannel) -> Result<f32, Error> {
|
||||
let adc_scale = match channel {
|
||||
InputChannel::Zero => {
|
||||
let adc_reading: u32 = self.adc1.read(&mut self.adc1_in_p).map_err(|_| Error::Adc)?;
|
||||
adc_reading as f32 / self.adc1.max_sample() as f32
|
||||
},
|
||||
InputChannel::One => {
|
||||
let adc_reading: u32 = self.adc2.read(&mut self.adc2_in_p).map_err(|_| Error::Adc)?;
|
||||
adc_reading as f32 / self.adc2.max_sample() as f32
|
||||
},
|
||||
};
|
||||
|
||||
// Convert analog percentage to voltage.
|
||||
Ok(adc_scale * 3.3)
|
||||
}
|
||||
}
|
||||
@ -1,14 +0,0 @@
|
||||
use super::Error;
|
||||
use super::InputChannel;
|
||||
|
||||
pub trait PowerMeasurementInterface {
|
||||
fn sample_converter(&mut self, channel: InputChannel) -> Result<f32, Error>;
|
||||
|
||||
fn measure_power(&mut self, channel: InputChannel) -> Result<f32, Error> {
|
||||
let analog_measurement = self.sample_converter(channel)?;
|
||||
|
||||
// The AD8363 with VSET connected to VOUT provides an output voltage of 51.7mV / dB at
|
||||
// 100MHz.
|
||||
Ok(analog_measurement / 0.0517)
|
||||
}
|
||||
}
|
||||
@ -1,16 +0,0 @@
|
||||
|
||||
#[allow(dead_code)]
|
||||
#[derive(Debug, Copy, Clone)]
|
||||
pub enum DdsChannel {
|
||||
Zero,
|
||||
One,
|
||||
Two,
|
||||
Three,
|
||||
}
|
||||
|
||||
#[allow(dead_code)]
|
||||
#[derive(Debug, Copy, Clone)]
|
||||
pub enum InputChannel {
|
||||
Zero,
|
||||
One,
|
||||
}
|
||||
583
stabilizer/Cargo.lock
generated
Normal file
583
stabilizer/Cargo.lock
generated
Normal file
@ -0,0 +1,583 @@
|
||||
# This file is automatically @generated by Cargo.
|
||||
# It is not intended for manual editing.
|
||||
[[package]]
|
||||
name = "ad9959"
|
||||
version = "0.1.0"
|
||||
source = "git+https://github.com/quartiq/ad9959.git?branch=feature/basic-driver#b45bce3f0dd7a58b5a272b778001dc9422c2c160"
|
||||
dependencies = [
|
||||
"bit_field 0.10.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"embedded-hal 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "aligned"
|
||||
version = "0.2.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
|
||||
[[package]]
|
||||
name = "aligned"
|
||||
version = "0.3.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"as-slice 0.1.3 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "as-slice"
|
||||
version = "0.1.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"generic-array 0.12.3 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"generic-array 0.13.2 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"stable_deref_trait 1.1.1 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "asm-delay"
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||||
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||||
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||||
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||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
name = "stm32h7-ethernet"
|
||||
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||||
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||||
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||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
dependencies = [
|
||||
"bare-metal 0.2.5 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"cast 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"cortex-m 0.6.2 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
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|
||||
"embedded-hal 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"nb 0.1.2 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"paste 0.1.16 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"stm32h7 0.11.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"void 1.0.2 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
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|
||||
|
||||
[[package]]
|
||||
name = "stm32h7xx-hal"
|
||||
version = "0.5.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"bare-metal 0.2.5 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"cast 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"cortex-m 0.6.2 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"cortex-m-rt 0.6.12 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"embedded-hal 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"nb 0.1.2 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"paste 0.1.16 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"stm32h7 0.11.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"void 1.0.2 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "syn"
|
||||
version = "1.0.30"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"proc-macro2 1.0.18 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"quote 1.0.6 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"unicode-xid 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "typenum"
|
||||
version = "1.12.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
|
||||
[[package]]
|
||||
name = "unicode-xid"
|
||||
version = "0.2.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
|
||||
[[package]]
|
||||
name = "vcell"
|
||||
version = "0.1.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
|
||||
[[package]]
|
||||
name = "void"
|
||||
version = "1.0.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
|
||||
[[package]]
|
||||
name = "volatile-register"
|
||||
version = "0.2.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"vcell 0.1.2 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[metadata]
|
||||
"checksum ad9959 0.1.0 (git+https://github.com/quartiq/ad9959.git?branch=feature/basic-driver)" = "<none>"
|
||||
"checksum aligned 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "d39da9b88ae1a81c03c9c082b8db83f1d0e93914126041962af61034ab44c4a5"
|
||||
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||||
"checksum as-slice 0.1.3 (registry+https://github.com/rust-lang/crates.io-index)" = "37dfb65bc03b2bc85ee827004f14a6817e04160e3b1a28931986a666a9290e70"
|
||||
"checksum asm-delay 0.7.0 (registry+https://github.com/rust-lang/crates.io-index)" = "0e0c8eec73de29ae94b2aff405a272304bc286204ddb1cdf20d7e2249078ae20"
|
||||
"checksum autocfg 1.0.0 (registry+https://github.com/rust-lang/crates.io-index)" = "f8aac770f1885fd7e387acedd76065302551364496e46b3dd00860b2f8359b9d"
|
||||
"checksum bare-metal 0.2.5 (registry+https://github.com/rust-lang/crates.io-index)" = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
|
||||
"checksum bit_field 0.10.0 (registry+https://github.com/rust-lang/crates.io-index)" = "a165d606cf084741d4ac3a28fb6e9b1eb0bd31f6cd999098cfddb0b2ab381dc0"
|
||||
"checksum bitflags 1.2.1 (registry+https://github.com/rust-lang/crates.io-index)" = "cf1de2fe8c75bc145a2f577add951f8134889b4795d47466a54a5c846d691693"
|
||||
"checksum bitrate 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)" = "c147d86912d04bef727828fda769a76ca81629a46d8ba311a8d58a26aa91473d"
|
||||
"checksum byteorder 1.3.4 (registry+https://github.com/rust-lang/crates.io-index)" = "08c48aae112d48ed9f069b33538ea9e3e90aa263cfa3d1c24309612b1f7472de"
|
||||
"checksum cast 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)" = "4b9434b9a5aa1450faa3f9cb14ea0e8c53bb5d2b3c1bfd1ab4fc03e9f33fbfb0"
|
||||
"checksum cfg-if 0.1.10 (registry+https://github.com/rust-lang/crates.io-index)" = "4785bdd1c96b2a846b2bd7cc02e86b6b3dbf14e7e53446c4f54c92a361040822"
|
||||
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|
||||
"checksum cortex-m 0.6.2 (registry+https://github.com/rust-lang/crates.io-index)" = "2954942fbbdd49996704e6f048ce57567c3e1a4e2dc59b41ae9fde06a01fc763"
|
||||
"checksum cortex-m-log 0.6.1 (registry+https://github.com/rust-lang/crates.io-index)" = "978caafe65d1023d38b00c76b83564788fc351d954a5005fb72cf992c0d61458"
|
||||
"checksum cortex-m-rt 0.6.12 (registry+https://github.com/rust-lang/crates.io-index)" = "00d518da72bba39496024b62607c1d8e37bcece44b2536664f1132a73a499a28"
|
||||
"checksum cortex-m-rt-macros 0.1.8 (registry+https://github.com/rust-lang/crates.io-index)" = "4717562afbba06e760d34451919f5c3bf3ac15c7bb897e8b04862a7428378647"
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||||
"checksum cortex-m-rtfm 0.5.1 (registry+https://github.com/rust-lang/crates.io-index)" = "eaf0b9fd3f042cb3793d15daf3cea201b2f25c99b0b5b936a551bb6909c3ae5b"
|
||||
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||||
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|
||||
"checksum embedded-hal 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)" = "ee4908a155094da7723c2d60d617b820061e3b4efcc3d9e293d206a5a76c170b"
|
||||
"checksum enum-iterator 0.6.0 (registry+https://github.com/rust-lang/crates.io-index)" = "c79a6321a1197d7730510c7e3f6cb80432dfefecb32426de8cea0aa19b4bb8d7"
|
||||
"checksum enum-iterator-derive 0.6.0 (registry+https://github.com/rust-lang/crates.io-index)" = "1e94aa31f7c0dc764f57896dc615ddd76fc13b0d5dca7eb6cc5e018a5a09ec06"
|
||||
"checksum generic-array 0.12.3 (registry+https://github.com/rust-lang/crates.io-index)" = "c68f0274ae0e023facc3c97b2e00f076be70e254bc851d972503b328db79b2ec"
|
||||
"checksum generic-array 0.13.2 (registry+https://github.com/rust-lang/crates.io-index)" = "0ed1e761351b56f54eb9dcd0cfaca9fd0daecf93918e1cfc01c8a3d26ee7adcd"
|
||||
"checksum hash32 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)" = "d4041af86e63ac4298ce40e5cca669066e75b6f1aa3390fe2561ffa5e1d9f4cc"
|
||||
"checksum heapless 0.5.5 (registry+https://github.com/rust-lang/crates.io-index)" = "73a8a2391a3bc70b31f60e7a90daa5755a360559c0b6b9c5cfc0fee482362dc0"
|
||||
"checksum indexmap 1.4.0 (registry+https://github.com/rust-lang/crates.io-index)" = "c398b2b113b55809ceb9ee3e753fcbac793f1956663f3c36549c1346015c2afe"
|
||||
"checksum log 0.4.8 (registry+https://github.com/rust-lang/crates.io-index)" = "14b6052be84e6b71ab17edffc2eeabf5c2c3ae1fdb464aae35ac50c67a44e1f7"
|
||||
"checksum managed 0.7.1 (registry+https://github.com/rust-lang/crates.io-index)" = "fdcec5e97041c7f0f1c5b7d93f12e57293c831c646f4cc7a5db59460c7ea8de6"
|
||||
"checksum mcp23017 0.1.1 (git+https://github.com/mrd0ll4r/mcp23017.git)" = "<none>"
|
||||
"checksum nb 0.1.2 (registry+https://github.com/rust-lang/crates.io-index)" = "b1411551beb3c11dedfb0a90a0fa256b47d28b9ec2cdff34c25a2fa59e45dbdc"
|
||||
"checksum panic-halt 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "de96540e0ebde571dc55c73d60ef407c653844e6f9a1e2fdbd40c07b9252d812"
|
||||
"checksum panic-semihosting 0.5.3 (registry+https://github.com/rust-lang/crates.io-index)" = "c03864ac862876c16a308f5286f4aa217f1a69ac45df87ad3cd2847f818a642c"
|
||||
"checksum paste 0.1.16 (registry+https://github.com/rust-lang/crates.io-index)" = "d508492eeb1e5c38ee696371bf7b9fc33c83d46a7d451606b96458fbbbdc2dec"
|
||||
"checksum paste-impl 0.1.16 (registry+https://github.com/rust-lang/crates.io-index)" = "84f328a6a63192b333fce5fbb4be79db6758a4d518dfac6d54412f1492f72d32"
|
||||
"checksum proc-macro-hack 0.5.16 (registry+https://github.com/rust-lang/crates.io-index)" = "7e0456befd48169b9f13ef0f0ad46d492cf9d2dbb918bcf38e01eed4ce3ec5e4"
|
||||
"checksum proc-macro2 1.0.18 (registry+https://github.com/rust-lang/crates.io-index)" = "beae6331a816b1f65d04c45b078fd8e6c93e8071771f41b8163255bbd8d7c8fa"
|
||||
"checksum quote 1.0.6 (registry+https://github.com/rust-lang/crates.io-index)" = "54a21852a652ad6f610c9510194f398ff6f8692e334fd1145fed931f7fbe44ea"
|
||||
"checksum r0 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)" = "e2a38df5b15c8d5c7e8654189744d8e396bddc18ad48041a500ce52d6948941f"
|
||||
"checksum rtfm-core 0.3.0 (registry+https://github.com/rust-lang/crates.io-index)" = "9ec893edb2aa5b70320b94896ffea22a7ebb1cf3f942bb67cd5b60a865a63493"
|
||||
"checksum rtfm-syntax 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)" = "4455e23c34df3d66454e7e218a4d76a7f83321d04a806be614463341cec4116e"
|
||||
"checksum rustc_version 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)" = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
|
||||
"checksum semver 0.9.0 (registry+https://github.com/rust-lang/crates.io-index)" = "1d7eb9ef2c18661902cc47e535f9bc51b78acd254da71d375c2f6720d9a40403"
|
||||
"checksum semver-parser 0.7.0 (registry+https://github.com/rust-lang/crates.io-index)" = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
|
||||
"checksum serde 1.0.111 (registry+https://github.com/rust-lang/crates.io-index)" = "c9124df5b40cbd380080b2cc6ab894c040a3070d995f5c9dc77e18c34a8ae37d"
|
||||
"checksum serde-json-core 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "cbf406405ada9ef326ca78677324ac66994ff348fc48a16030be08caeed29825"
|
||||
"checksum serde_derive 1.0.111 (registry+https://github.com/rust-lang/crates.io-index)" = "3f2c3ac8e6ca1e9c80b8be1023940162bf81ae3cffbb1809474152f2ce1eb250"
|
||||
"checksum smoltcp 0.6.0 (registry+https://github.com/rust-lang/crates.io-index)" = "0fe46639fd2ec79eadf8fe719f237a7a0bd4dac5d957f1ca5bbdbc1c3c39e53a"
|
||||
"checksum stable_deref_trait 1.1.1 (registry+https://github.com/rust-lang/crates.io-index)" = "dba1a27d3efae4351c8051072d619e3ade2820635c3958d826bfea39d59b54c8"
|
||||
"checksum stm32h7 0.11.0 (registry+https://github.com/rust-lang/crates.io-index)" = "e9beb5e2a223c82f263c3051bba4614aebc6e98bd40217df3cd8817c83ac7bd8"
|
||||
"checksum stm32h7-ethernet 0.1.1 (git+https://github.com/quartiq/stm32h7-ethernet.git)" = "<none>"
|
||||
"checksum stm32h7xx-hal 0.5.0 (registry+https://github.com/rust-lang/crates.io-index)" = "987c66628f30012ed9a41cc738421c5caece03292c0cc8fd1e99956f122735bd"
|
||||
"checksum syn 1.0.30 (registry+https://github.com/rust-lang/crates.io-index)" = "93a56fabc59dce20fe48b6c832cc249c713e7ed88fa28b0ee0a3bfcaae5fe4e2"
|
||||
"checksum typenum 1.12.0 (registry+https://github.com/rust-lang/crates.io-index)" = "373c8a200f9e67a0c95e62a4f52fbf80c23b4381c05a17845531982fa99e6b33"
|
||||
"checksum unicode-xid 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "826e7639553986605ec5979c7dd957c7895e93eabed50ab2ffa7f6128a75097c"
|
||||
"checksum vcell 0.1.2 (registry+https://github.com/rust-lang/crates.io-index)" = "876e32dcadfe563a4289e994f7cb391197f362b6315dc45e8ba4aa6f564a4b3c"
|
||||
"checksum void 1.0.2 (registry+https://github.com/rust-lang/crates.io-index)" = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
|
||||
"checksum volatile-register 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "0d67cb4616d99b940db1d6bd28844ff97108b498a6ca850e5b6191a532063286"
|
||||
64
stabilizer/Cargo.toml
Normal file
64
stabilizer/Cargo.toml
Normal file
@ -0,0 +1,64 @@
|
||||
[package]
|
||||
name = "stabilizer"
|
||||
version = "0.3.0"
|
||||
authors = ["Robert Jördens <rj@quartiq.de>"]
|
||||
description = "Firmware for the Sinara Stabilizer board (stm32h743, eth, poe, 2 adc, 2 dac)"
|
||||
categories = ["embedded", "no-std", "hardware-support", "science"]
|
||||
license = "GPL-3.0-or-later"
|
||||
keywords = ["ethernet", "stm32h7", "adc", "dac", "physics"]
|
||||
repository = "https://github.com/quartiq/stabilizer"
|
||||
readme = "README.md"
|
||||
documentation = "https://docs.rs/stabilizer/"
|
||||
edition = "2018"
|
||||
exclude = [
|
||||
".travis.yml",
|
||||
".gitignore",
|
||||
"doc/",
|
||||
"doc/*"
|
||||
]
|
||||
|
||||
[badges]
|
||||
travis-ci = { repository = "quartiq/stabilizer", branch = "master" }
|
||||
maintenance = { status = "experimental" }
|
||||
|
||||
[package.metadata.docs.rs]
|
||||
features = []
|
||||
default-target = "thumbv7em-none-eabihf"
|
||||
|
||||
[dependencies]
|
||||
cortex-m = { version = "0.6", features = ["const-fn"] }
|
||||
cortex-m-rt = { version = "0.6", features = ["device"] }
|
||||
cortex-m-log = { version = "0.6", features = ["log-integration"] }
|
||||
log = "0.4"
|
||||
panic-semihosting = { version = "0.5", optional = true }
|
||||
panic-halt = "0.2"
|
||||
serde = { version = "1.0", features = ["derive"], default-features = false }
|
||||
heapless = { version = "0.5", features = ["serde"] }
|
||||
serde-json-core = "0.1"
|
||||
cortex-m-rtfm = "0.5"
|
||||
embedded-hal = "0.2.3"
|
||||
nb = "0.1.2"
|
||||
asm-delay = "0.7.0"
|
||||
enum-iterator = "0.6.0"
|
||||
|
||||
[dependencies.mcp23017]
|
||||
git = "https://github.com/mrd0ll4r/mcp23017.git"
|
||||
|
||||
[dependencies.smoltcp]
|
||||
version = "0.6"
|
||||
features = ["ethernet", "proto-ipv4", "socket-tcp", "proto-ipv6"]
|
||||
default-features = false
|
||||
|
||||
[dependencies.stm32h7-ethernet]
|
||||
git = "https://github.com/quartiq/stm32h7-ethernet.git"
|
||||
features = ["stm32h743v"]
|
||||
|
||||
[dependencies.stm32h7xx-hal]
|
||||
path = "../stm32h7xx-hal/"
|
||||
features = ["stm32h743v", "rt", "unproven"]
|
||||
|
||||
[features]
|
||||
semihosting = ["panic-semihosting", "cortex-m-log/semihosting"]
|
||||
bkpt = [ ]
|
||||
nightly = ["cortex-m/inline-asm"]
|
||||
|
||||
@ -1,7 +1,10 @@
|
||||
use embedded_hal;
|
||||
use serde::{Serialize, Deserialize};
|
||||
|
||||
#[derive(Copy, Clone, Debug, Serialize, Deserialize)]
|
||||
use core::convert::TryFrom;
|
||||
use enum_iterator::IntoEnumIterator;
|
||||
|
||||
#[derive(Copy, Clone, Debug, Serialize, Deserialize, IntoEnumIterator)]
|
||||
pub enum Gain {
|
||||
G1 = 0b00,
|
||||
G2 = 0b01,
|
||||
@ -14,6 +17,20 @@ pub struct ProgrammableGainAmplifier<A0, A1> {
|
||||
a1: A1
|
||||
}
|
||||
|
||||
impl TryFrom<u8> for Gain {
|
||||
type Error = ();
|
||||
|
||||
fn try_from(value: u8) -> Result<Self, Self::Error> {
|
||||
for gain in Gain::into_enum_iter() {
|
||||
if value == gain as u8 {
|
||||
return Ok(gain)
|
||||
}
|
||||
}
|
||||
|
||||
Err(())
|
||||
}
|
||||
}
|
||||
|
||||
impl<A0, A1> ProgrammableGainAmplifier<A0, A1>
|
||||
where
|
||||
A0: embedded_hal::digital::v2::StatefulOutputPin,
|
||||
@ -44,22 +61,15 @@ where
|
||||
}
|
||||
}
|
||||
|
||||
pub fn get_gain(&self) -> Gain {
|
||||
let lsb_set = self.a0.is_set_high().unwrap();
|
||||
let msb_set = self.a1.is_set_high().unwrap();
|
||||
|
||||
if msb_set {
|
||||
if lsb_set {
|
||||
Gain::G10
|
||||
} else {
|
||||
Gain::G5
|
||||
}
|
||||
} else {
|
||||
if lsb_set {
|
||||
Gain::G2
|
||||
} else {
|
||||
Gain::G1
|
||||
}
|
||||
pub fn get_gain(&self) -> Result<Gain, ()> {
|
||||
let mut code: u8 = 0;
|
||||
if self.a0.is_set_high().unwrap() {
|
||||
code |= 0b1;
|
||||
}
|
||||
if self.a1.is_set_high().unwrap() {
|
||||
code |= 0b10;
|
||||
}
|
||||
|
||||
Gain::try_from(code)
|
||||
}
|
||||
}
|
||||
@ -11,7 +11,7 @@
|
||||
#[panic_handler]
|
||||
#[cfg(all(feature = "nightly", not(feature = "semihosting")))]
|
||||
fn panic(_info: &core::panic::PanicInfo) -> ! {
|
||||
let gpiod = unsafe { &*pac::GPIOD::ptr() };
|
||||
let gpiod = unsafe { &*hal::stm32::GPIOD::ptr() };
|
||||
gpiod.odr.modify(|_, w| w.odr6().high().odr12().high()); // FP_LED_1, FP_LED_3
|
||||
unsafe {
|
||||
core::intrinsics::abort();
|
||||
@ -27,22 +27,13 @@ extern crate panic_halt;
|
||||
#[macro_use]
|
||||
extern crate log;
|
||||
|
||||
use nb;
|
||||
|
||||
// use core::sync::atomic::{AtomicU32, AtomicBool, Ordering};
|
||||
use asm_delay;
|
||||
use rtfm::cyccnt::{Instant, U32Ext};
|
||||
use cortex_m_rt::exception;
|
||||
use cortex_m;
|
||||
use stm32h7xx_hal as hal;
|
||||
use stm32h7xx_hal::{
|
||||
prelude::*,
|
||||
stm32 as pac,
|
||||
};
|
||||
|
||||
use heapless::{
|
||||
String,
|
||||
consts::*,
|
||||
};
|
||||
|
||||
use embedded_hal::{
|
||||
@ -52,18 +43,18 @@ use embedded_hal::{
|
||||
use stm32h7_ethernet as ethernet;
|
||||
use smoltcp as net;
|
||||
|
||||
use heapless::{
|
||||
String,
|
||||
consts::*,
|
||||
};
|
||||
|
||||
#[link_section = ".sram3.eth"]
|
||||
static mut DES_RING: ethernet::DesRing = ethernet::DesRing::new();
|
||||
|
||||
mod eth;
|
||||
mod pounder;
|
||||
mod server;
|
||||
mod afe;
|
||||
|
||||
mod iir;
|
||||
use iir::*;
|
||||
|
||||
mod eeprom;
|
||||
mod iir;
|
||||
mod server;
|
||||
|
||||
#[cfg(not(feature = "semihosting"))]
|
||||
fn init_log() {}
|
||||
@ -103,16 +94,18 @@ static mut NET_STORE: NetStorage = NetStorage {
|
||||
|
||||
const SCALE: f32 = ((1 << 15) - 1) as f32;
|
||||
|
||||
const SPI_START_CODE: u32 = 0x201;
|
||||
|
||||
// static ETHERNET_PENDING: AtomicBool = AtomicBool::new(true);
|
||||
|
||||
const TCP_RX_BUFFER_SIZE: usize = 8192;
|
||||
const TCP_TX_BUFFER_SIZE: usize = 8192;
|
||||
|
||||
type AFE0 = afe::ProgrammableGainAmplifier<
|
||||
type AFE1 = afe::ProgrammableGainAmplifier<
|
||||
hal::gpio::gpiof::PF2<hal::gpio::Output<hal::gpio::PushPull>>,
|
||||
hal::gpio::gpiof::PF5<hal::gpio::Output<hal::gpio::PushPull>>>;
|
||||
|
||||
type AFE1 = afe::ProgrammableGainAmplifier<
|
||||
type AFE2 = afe::ProgrammableGainAmplifier<
|
||||
hal::gpio::gpiod::PD14<hal::gpio::Output<hal::gpio::PushPull>>,
|
||||
hal::gpio::gpiod::PD15<hal::gpio::Output<hal::gpio::PushPull>>>;
|
||||
|
||||
@ -167,34 +160,29 @@ macro_rules! route_request {
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
#[rtfm::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = rtfm::cyccnt::CYCCNT)]
|
||||
const APP: () = {
|
||||
struct Resources {
|
||||
adc0: hal::spi::Spi<hal::stm32::SPI2>,
|
||||
dac0: hal::spi::Spi<hal::stm32::SPI4>,
|
||||
afe0: AFE0,
|
||||
|
||||
adc1: hal::spi::Spi<hal::stm32::SPI3>,
|
||||
dac1: hal::spi::Spi<hal::stm32::SPI5>,
|
||||
adc1: hal::spi::Spi<hal::stm32::SPI2>,
|
||||
dac1: hal::spi::Spi<hal::stm32::SPI4>,
|
||||
afe1: AFE1,
|
||||
|
||||
adc2: hal::spi::Spi<hal::stm32::SPI3>,
|
||||
dac2: hal::spi::Spi<hal::stm32::SPI5>,
|
||||
afe2: AFE2,
|
||||
|
||||
eeprom_i2c: hal::i2c::I2c<hal::stm32::I2C2>,
|
||||
|
||||
dbg_pin: hal::gpio::gpioc::PC6<hal::gpio::Output<hal::gpio::PushPull>>,
|
||||
dac_pin: hal::gpio::gpiob::PB15<hal::gpio::Output<hal::gpio::PushPull>>,
|
||||
timer: hal::timer::Timer<hal::stm32::TIM2>,
|
||||
net_interface: net::iface::EthernetInterface<'static, 'static, 'static,
|
||||
ethernet::EthernetDMA<'static>>,
|
||||
_eth_mac: ethernet::EthernetMAC,
|
||||
mac_addr: net::wire::EthernetAddress,
|
||||
|
||||
pounder: pounder::PounderDevices<asm_delay::AsmDelay>,
|
||||
|
||||
#[init([[0.; 5]; 2])]
|
||||
iir_state: [IIRState; 2],
|
||||
#[init([IIR { ba: [1., 0., 0., 0., 0.], y_offset: 0., y_min: -SCALE - 1., y_max: SCALE }; 2])]
|
||||
iir_ch: [IIR; 2],
|
||||
iir_state: [iir::IIRState; 2],
|
||||
#[init([iir::IIR { ba: [1., 0., 0., 0., 0.], y_offset: 0., y_min: -SCALE - 1., y_max: SCALE }; 2])]
|
||||
iir_ch: [iir::IIR; 2],
|
||||
}
|
||||
|
||||
#[init]
|
||||
@ -223,30 +211,28 @@ const APP: () = {
|
||||
|
||||
clocks.rb.d2ccip1r.modify(|_, w| w.spi123sel().pll2_p().spi45sel().pll2_q());
|
||||
|
||||
let mut delay = hal::delay::Delay::new(cp.SYST, clocks.clocks);
|
||||
let gpioa = dp.GPIOA.split(&mut clocks);
|
||||
let gpiob = dp.GPIOB.split(&mut clocks);
|
||||
let gpioc = dp.GPIOC.split(&mut clocks);
|
||||
let gpiod = dp.GPIOD.split(&mut clocks);
|
||||
let gpioe = dp.GPIOE.split(&mut clocks);
|
||||
let gpiof = dp.GPIOF.split(&mut clocks);
|
||||
let gpiog = dp.GPIOG.split(&mut clocks);
|
||||
|
||||
let gpioa = dp.GPIOA.split(&mut clocks.ahb4);
|
||||
let gpiob = dp.GPIOB.split(&mut clocks.ahb4);
|
||||
let gpioc = dp.GPIOC.split(&mut clocks.ahb4);
|
||||
let gpiod = dp.GPIOD.split(&mut clocks.ahb4);
|
||||
let gpioe = dp.GPIOE.split(&mut clocks.ahb4);
|
||||
let gpiof = dp.GPIOF.split(&mut clocks.ahb4);
|
||||
let gpiog = dp.GPIOG.split(&mut clocks.ahb4);
|
||||
|
||||
let afe0 = {
|
||||
let afe1 = {
|
||||
let a0_pin = gpiof.pf2.into_push_pull_output();
|
||||
let a1_pin = gpiof.pf5.into_push_pull_output();
|
||||
afe::ProgrammableGainAmplifier::new(a0_pin, a1_pin)
|
||||
};
|
||||
|
||||
let afe1 = {
|
||||
let afe2 = {
|
||||
let a0_pin = gpiod.pd14.into_push_pull_output();
|
||||
let a1_pin = gpiod.pd15.into_push_pull_output();
|
||||
afe::ProgrammableGainAmplifier::new(a0_pin, a1_pin)
|
||||
};
|
||||
|
||||
// Configure the SPI interfaces to the ADCs and DACs.
|
||||
let adc0_spi = {
|
||||
let adc1_spi = {
|
||||
let spi_miso = gpiob.pb14.into_alternate_af5().set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let spi_sck = gpiob.pb10.into_alternate_af5().set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let _spi_nss = gpiob.pb9.into_alternate_af5();
|
||||
@ -257,8 +243,9 @@ const APP: () = {
|
||||
})
|
||||
.communication_mode(hal::spi::CommunicationMode::Receiver)
|
||||
.manage_cs()
|
||||
.cs_delay(220e-9)
|
||||
.frame_size(16);
|
||||
.transfer_size(1)
|
||||
.frame_size(16)
|
||||
.cs_delay(220e-9);
|
||||
|
||||
let mut spi = dp.SPI2.spi(
|
||||
(spi_sck, spi_miso, hal::spi::NoMosi),
|
||||
@ -266,12 +253,12 @@ const APP: () = {
|
||||
50.mhz(),
|
||||
&clocks);
|
||||
|
||||
spi.listen(hal::spi::Event::Rxp);
|
||||
spi.listen(hal::spi::Event::Eot);
|
||||
|
||||
spi
|
||||
};
|
||||
|
||||
let adc1_spi = {
|
||||
let adc2_spi = {
|
||||
let spi_miso = gpiob.pb4.into_alternate_af6().set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let spi_sck = gpioc.pc10.into_alternate_af6().set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let _spi_nss = gpioa.pa15.into_alternate_af6();
|
||||
@ -283,21 +270,24 @@ const APP: () = {
|
||||
})
|
||||
.communication_mode(hal::spi::CommunicationMode::Receiver)
|
||||
.manage_cs()
|
||||
.transfer_size(1)
|
||||
.frame_size(16)
|
||||
.cs_delay(220e-9);
|
||||
|
||||
let spi = dp.SPI3.spi(
|
||||
let mut spi = dp.SPI3.spi(
|
||||
(spi_sck, spi_miso, hal::spi::NoMosi),
|
||||
config,
|
||||
50.mhz(),
|
||||
&clocks);
|
||||
|
||||
spi.listen(hal::spi::Event::Eot);
|
||||
|
||||
spi
|
||||
};
|
||||
|
||||
let dac0_spi = {
|
||||
let spi_miso = gpioe.pe5.into_alternate_af5();
|
||||
let spi_sck = gpioe.pe2.into_alternate_af5();
|
||||
let dac1_spi = {
|
||||
let spi_miso = gpioe.pe5.into_alternate_af5().set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let spi_sck = gpioe.pe2.into_alternate_af5().set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let _spi_nss = gpioe.pe4.into_alternate_af5();
|
||||
|
||||
let config = hal::spi::Config::new(hal::spi::Mode{
|
||||
@ -306,15 +296,17 @@ const APP: () = {
|
||||
})
|
||||
.communication_mode(hal::spi::CommunicationMode::Transmitter)
|
||||
.manage_cs()
|
||||
.transfer_size(1)
|
||||
.frame_size(16)
|
||||
.swap_mosi_miso();
|
||||
|
||||
dp.SPI4.spi((spi_sck, spi_miso, hal::spi::NoMosi), config, 25.mhz(), &clocks)
|
||||
let spi = dp.SPI4.spi((spi_sck, spi_miso, hal::spi::NoMosi), config, 50.mhz(), &clocks);
|
||||
spi
|
||||
};
|
||||
|
||||
let dac1_spi = {
|
||||
let spi_miso = gpiof.pf8.into_alternate_af5();
|
||||
let spi_sck = gpiof.pf7.into_alternate_af5();
|
||||
let dac2_spi = {
|
||||
let spi_miso = gpiof.pf8.into_alternate_af5().set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let spi_sck = gpiof.pf7.into_alternate_af5().set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let _spi_nss = gpiof.pf6.into_alternate_af5();
|
||||
|
||||
let config = hal::spi::Config::new(hal::spi::Mode{
|
||||
@ -323,91 +315,13 @@ const APP: () = {
|
||||
})
|
||||
.communication_mode(hal::spi::CommunicationMode::Transmitter)
|
||||
.manage_cs()
|
||||
.transfer_size(1)
|
||||
.frame_size(16)
|
||||
.swap_mosi_miso();
|
||||
|
||||
dp.SPI5.spi((spi_sck, spi_miso, hal::spi::NoMosi), config, 25.mhz(), &clocks)
|
||||
};
|
||||
let spi = dp.SPI5.spi((spi_sck, spi_miso, hal::spi::NoMosi), config, 50.mhz(), &clocks);
|
||||
|
||||
let pounder_devices = {
|
||||
let ad9959 = {
|
||||
let qspi_interface = {
|
||||
// Instantiate the QUADSPI pins and peripheral interface.
|
||||
// TODO: Place these into a pins structure that is provided to the QSPI
|
||||
// constructor.
|
||||
let _qspi_clk = gpiob.pb2.into_alternate_af9();
|
||||
let _qspi_ncs = gpioc.pc11.into_alternate_af9();
|
||||
let _qspi_io0 = gpioe.pe7.into_alternate_af10();
|
||||
let _qspi_io1 = gpioe.pe8.into_alternate_af10();
|
||||
let _qspi_io2 = gpioe.pe9.into_alternate_af10();
|
||||
let _qspi_io3 = gpioe.pe10.into_alternate_af10();
|
||||
|
||||
let qspi = hal::qspi::Qspi::new(dp.QUADSPI, &mut clocks, 10.mhz()).unwrap();
|
||||
pounder::QspiInterface::new(qspi).unwrap()
|
||||
};
|
||||
|
||||
let mut reset_pin = gpioa.pa0.into_push_pull_output();
|
||||
let io_update = gpiog.pg7.into_push_pull_output();
|
||||
|
||||
|
||||
let asm_delay = {
|
||||
let frequency_hz = clocks.clocks.c_ck().0;
|
||||
asm_delay::AsmDelay::new(asm_delay::bitrate::Hertz (frequency_hz))
|
||||
};
|
||||
|
||||
ad9959::Ad9959::new(qspi_interface,
|
||||
&mut reset_pin,
|
||||
io_update,
|
||||
asm_delay,
|
||||
ad9959::Mode::FourBitSerial,
|
||||
100_000_000).unwrap()
|
||||
};
|
||||
|
||||
let io_expander = {
|
||||
let sda = gpiob.pb7.into_alternate_af4().set_open_drain();
|
||||
let scl = gpiob.pb8.into_alternate_af4().set_open_drain();
|
||||
let i2c1 = dp.I2C1.i2c((scl, sda), 100.khz(), &clocks);
|
||||
mcp23017::MCP23017::default(i2c1).unwrap()
|
||||
};
|
||||
|
||||
let spi = {
|
||||
let spi_mosi = gpiod.pd7.into_alternate_af5();
|
||||
let spi_miso = gpioa.pa6.into_alternate_af5();
|
||||
let spi_sck = gpiog.pg11.into_alternate_af5();
|
||||
|
||||
let config = hal::spi::Config::new(hal::spi::Mode{
|
||||
polarity: hal::spi::Polarity::IdleHigh,
|
||||
phase: hal::spi::Phase::CaptureOnSecondTransition,
|
||||
})
|
||||
.frame_size(8);
|
||||
|
||||
dp.SPI1.spi((spi_sck, spi_miso, spi_mosi), config, 25.mhz(), &clocks)
|
||||
};
|
||||
|
||||
let adc1 = {
|
||||
let mut adc = dp.ADC1.adc(&mut delay, &mut clocks);
|
||||
adc.calibrate();
|
||||
|
||||
adc.enable()
|
||||
};
|
||||
|
||||
let adc2 = {
|
||||
let mut adc = dp.ADC2.adc(&mut delay, &mut clocks);
|
||||
adc.calibrate();
|
||||
|
||||
adc.enable()
|
||||
};
|
||||
|
||||
let adc1_in_p = gpiof.pf11.into_analog();
|
||||
let adc2_in_p = gpiof.pf14.into_analog();
|
||||
|
||||
pounder::PounderDevices::new(io_expander,
|
||||
ad9959,
|
||||
spi,
|
||||
adc1,
|
||||
adc2,
|
||||
adc1_in_p,
|
||||
adc2_in_p).unwrap()
|
||||
spi
|
||||
};
|
||||
|
||||
let mut fp_led_0 = gpiod.pd5.into_push_pull_output();
|
||||
@ -488,28 +402,34 @@ const APP: () = {
|
||||
// Utilize the cycle counter for RTFM scheduling.
|
||||
cp.DWT.enable_cycle_counter();
|
||||
|
||||
let mut debug_pin = gpioc.pc6.into_push_pull_output();
|
||||
debug_pin.set_low().unwrap();
|
||||
let mut dma = hal::dma::Dma::dma(dp.DMA1, dp.DMAMUX1, &clocks);
|
||||
dma.configure_m2p_stream(hal::dma::Stream::One,
|
||||
&SPI_START_CODE as *const _ as u32,
|
||||
&adc1_spi.spi.cr1 as *const _ as u32,
|
||||
hal::dma::DMAREQ_ID::TIM2_CH1);
|
||||
|
||||
let mut dac_pin = gpiob.pb15.into_push_pull_output();
|
||||
dac_pin.set_low().unwrap();
|
||||
dma.configure_m2p_stream(hal::dma::Stream::Two,
|
||||
&SPI_START_CODE as *const _ as u32,
|
||||
&adc2_spi.spi.cr1 as *const _ as u32,
|
||||
hal::dma::DMAREQ_ID::TIM2_CH2);
|
||||
|
||||
// Configure timer 2 to trigger conversions for the ADC
|
||||
let mut timer2 = dp.TIM2.timer(500.khz(), &mut clocks);
|
||||
timer2.listen(hal::timer::Event::TimeOut);
|
||||
timer2.configure_channel(hal::timer::Channel::One, 0.25);
|
||||
timer2.configure_channel(hal::timer::Channel::Two, 0.75);
|
||||
|
||||
timer2.listen(hal::timer::Event::ChannelOneDma);
|
||||
timer2.listen(hal::timer::Event::ChannelTwoDma);
|
||||
|
||||
init::LateResources {
|
||||
adc0: adc0_spi,
|
||||
dac0: dac0_spi,
|
||||
adc1: adc1_spi,
|
||||
dac1: dac1_spi,
|
||||
afe0: afe0,
|
||||
adc2: adc2_spi,
|
||||
dac2: dac2_spi,
|
||||
afe1: afe1,
|
||||
afe2: afe2,
|
||||
|
||||
dbg_pin: debug_pin,
|
||||
dac_pin: dac_pin,
|
||||
timer: timer2,
|
||||
pounder: pounder_devices,
|
||||
|
||||
eeprom_i2c: eeprom_i2c,
|
||||
net_interface: network_interface,
|
||||
@ -518,50 +438,37 @@ const APP: () = {
|
||||
}
|
||||
}
|
||||
|
||||
#[task(binds = TIM2, resources = [dbg_pin, timer, adc0, adc1])]
|
||||
fn tim2(mut c: tim2::Context) {
|
||||
c.resources.timer.clear_uif_bit();
|
||||
c.resources.dbg_pin.set_high().unwrap();
|
||||
#[task(binds = SPI3, resources = [adc2, dac2, iir_state, iir_ch], priority = 2)]
|
||||
fn spi3(c: spi3::Context) {
|
||||
c.resources.adc2.spi.ifcr.write(|w| w.eotc().set_bit());
|
||||
|
||||
// Start a SPI transaction on ADC0 and ADC1
|
||||
c.resources.adc0.lock(|adc| adc.spi.cr1.modify(|_, w| w.cstart().set_bit()));
|
||||
c.resources.adc1.lock(|adc| adc.spi.cr1.modify(|_, w| w.cstart().set_bit()));
|
||||
|
||||
c.resources.dbg_pin.set_low().unwrap();
|
||||
}
|
||||
|
||||
#[task(binds = SPI2, resources = [adc0, dac0, adc1, dac1, iir_state, iir_ch, dac_pin], priority = 2)]
|
||||
fn adc_spi(c: adc_spi::Context) {
|
||||
#[cfg(feature = "bkpt")]
|
||||
cortex_m::asm::bkpt();
|
||||
|
||||
c.resources.dac_pin.set_high().unwrap();
|
||||
|
||||
let output_ch1 = {
|
||||
let a: u16 = c.resources.adc0.read().unwrap();
|
||||
let x0 = f32::from(a as i16);
|
||||
let y0 = c.resources.iir_ch[0].update(&mut c.resources.iir_state[0], x0);
|
||||
y0 as i16 as u16 ^ 0x8000
|
||||
};
|
||||
c.resources.adc0.spi.ifcr.write(|w| w.eotc().set_bit());
|
||||
|
||||
let output_ch2 = {
|
||||
let a: u16 = nb::block!(c.resources.adc1.read()).unwrap();
|
||||
let output: u16 = {
|
||||
let a: u16 = c.resources.adc2.read().unwrap();
|
||||
let x0 = f32::from(a as i16);
|
||||
let y0 = c.resources.iir_ch[1].update(&mut c.resources.iir_state[1], x0);
|
||||
y0 as i16 as u16 ^ 0x8000
|
||||
};
|
||||
c.resources.adc1.spi.ifcr.write(|w| w.eotc().set_bit());
|
||||
|
||||
c.resources.dac0.send(output_ch1).unwrap();
|
||||
c.resources.dac1.send(output_ch2).unwrap();
|
||||
|
||||
c.resources.dac_pin.set_low().unwrap();
|
||||
#[cfg(feature = "bkpt")]
|
||||
cortex_m::asm::bkpt();
|
||||
c.resources.dac2.spi.ifcr.write(|w| w.eotc().set_bit().txtfc().set_bit());
|
||||
c.resources.dac2.send(output).unwrap();
|
||||
}
|
||||
|
||||
#[idle(resources=[net_interface, mac_addr, iir_state, iir_ch, afe0, afe1])]
|
||||
#[task(binds = SPI2, resources = [adc1, dac1, iir_state, iir_ch], priority = 2)]
|
||||
fn spi2(c: spi2::Context) {
|
||||
c.resources.adc1.spi.ifcr.write(|w| w.eotc().set_bit());
|
||||
|
||||
let output: u16 = {
|
||||
let a: u16 = c.resources.adc1.read().unwrap();
|
||||
let x0 = f32::from(a as i16);
|
||||
let y0 = c.resources.iir_ch[0].update(&mut c.resources.iir_state[0], x0);
|
||||
y0 as i16 as u16 ^ 0x8000
|
||||
};
|
||||
|
||||
c.resources.dac1.spi.ifcr.write(|w| w.eotc().set_bit().txtfc().set_bit());
|
||||
c.resources.dac1.send(output).unwrap();
|
||||
}
|
||||
|
||||
#[idle(resources=[net_interface, mac_addr, iir_state, iir_ch, afe1, afe2])]
|
||||
fn idle(mut c: idle::Context) -> ! {
|
||||
|
||||
let mut socket_set_entries: [_; 8] = Default::default();
|
||||
@ -569,7 +476,7 @@ const APP: () = {
|
||||
|
||||
let mut rx_storage = [0; TCP_RX_BUFFER_SIZE];
|
||||
let mut tx_storage = [0; TCP_TX_BUFFER_SIZE];
|
||||
let tcp_handle0 = {
|
||||
let tcp_handle = {
|
||||
let tcp_rx_buffer = net::socket::TcpSocketBuffer::new(&mut rx_storage[..]);
|
||||
let tcp_tx_buffer = net::socket::TcpSocketBuffer::new(&mut tx_storage[..]);
|
||||
let tcp_socket = net::socket::TcpSocket::new(tcp_rx_buffer, tcp_tx_buffer);
|
||||
@ -594,7 +501,7 @@ const APP: () = {
|
||||
|
||||
{
|
||||
let socket =
|
||||
&mut *sockets.get::<net::socket::TcpSocket>(tcp_handle0);
|
||||
&mut *sockets.get::<net::socket::TcpSocket>(tcp_handle);
|
||||
if socket.state() == net::socket::TcpState::CloseWait {
|
||||
socket.close();
|
||||
} else if !(socket.is_open() || socket.is_listening()) {
|
||||
@ -618,26 +525,11 @@ const APP: () = {
|
||||
|
||||
Ok::<server::Status, ()>(state)
|
||||
})),
|
||||
("stabilizer/afe0/gain", (|| {
|
||||
Ok::<afe::Gain, ()>(c.resources.afe0.get_gain())
|
||||
})),
|
||||
("stabilizer/afe1/gain", (|| {
|
||||
Ok::<afe::Gain, ()>(c.resources.afe1.get_gain())
|
||||
}))
|
||||
("stabilizer/afe1/gain", (|| c.resources.afe1.get_gain())),
|
||||
("stabilizer/afe2/gain", (|| c.resources.afe2.get_gain()))
|
||||
],
|
||||
|
||||
modifiable_attributes: [
|
||||
("stabilizer/iir0/state", server::IirRequest, (|req: server::IirRequest| {
|
||||
c.resources.iir_ch.lock(|iir_ch| {
|
||||
if req.channel > 1 {
|
||||
return Err(());
|
||||
}
|
||||
|
||||
iir_ch[req.channel as usize] = req.iir;
|
||||
|
||||
Ok::<server::IirRequest, ()>(req)
|
||||
})
|
||||
})),
|
||||
("stabilizer/iir1/state", server::IirRequest, (|req: server::IirRequest| {
|
||||
c.resources.iir_ch.lock(|iir_ch| {
|
||||
if req.channel > 1 {
|
||||
@ -649,11 +541,22 @@ const APP: () = {
|
||||
Ok::<server::IirRequest, ()>(req)
|
||||
})
|
||||
})),
|
||||
("stabilizer/afe0/gain", afe::Gain, (|gain| {
|
||||
Ok::<(), ()>(c.resources.afe0.set_gain(gain))
|
||||
("stabilizer/iir2/state", server::IirRequest, (|req: server::IirRequest| {
|
||||
c.resources.iir_ch.lock(|iir_ch| {
|
||||
if req.channel > 1 {
|
||||
return Err(());
|
||||
}
|
||||
|
||||
iir_ch[req.channel as usize] = req.iir;
|
||||
|
||||
Ok::<server::IirRequest, ()>(req)
|
||||
})
|
||||
})),
|
||||
("stabilizer/afe1/gain", afe::Gain, (|gain| {
|
||||
Ok::<(), ()>(c.resources.afe1.set_gain(gain))
|
||||
})),
|
||||
("stabilizer/afe2/gain", afe::Gain, (|gain| {
|
||||
Ok::<(), ()>(c.resources.afe2.set_gain(gain))
|
||||
}))
|
||||
]
|
||||
)
|
||||
1
stm32h7xx-hal
Submodule
1
stm32h7xx-hal
Submodule
@ -0,0 +1 @@
|
||||
Subproject commit d79cb0015a6f0cbb819907efe3a817f7dce14bab
|
||||
Loading…
Reference in New Issue
Block a user